Created the capture_image file for the example 7 tutorial for ROS2

stretch_ros_tutorials/capture_image.py

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+#!/usr/bin/env python3
+
+import rclpy
+import sys
+import os
+import cv2
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+
+class CaptureImage(Node):
+    """
+    A class that converts a subscribed ROS image to a OpenCV image and saves
+    the captured image to a predefined directory.
+    """
+    def __init__(self):
+        """
+        A function that initializes a CvBridge class, subscriber, and save path.
+        :param self: The self reference.
+        """
+        super().__init__('stretch_capture_image')
+        self.bridge = CvBridge()
+        self.sub = self.create_subscription(Image, '/camera/color/image_raw', self.image_callback, 10)
+        self.save_path = '/home/hello-robot/ament_ws/src/stretch_tutorials/stored_data'
+        self.br = CvBridge()
+
+    def image_callback(self, msg, data):
+        """
+        A callback function that converts the ROS image to a CV2 image and stores the
+        image.
+        :param self: The self reference.
+        :param msg: The ROS image message type.
+        """
+        
+        try:
+            image = self.bridge.imgmsg_to_cv2(msg, 'bgr8')
+        except CvBridgeError as e:
+            self.get_logger().warn('CV Bridge error: {0}'.format(e))
+
+        file_name = 'camera_image.jpeg'
+        completeName = os.path.join(self.save_path, file_name)
+        cv2.imwrite(completeName, image)
+        rclpy.shutdown()
+        sys.exit(0)
+
+def main(args=None):
+    rclpy.init(args=args)
+    capture_image = CaptureImage()
+    rclpy.spin(capture_image)
+
+if __name__ == '__main__':
+    main()