From 493bed2196fa45b3c1788e35f7f61cbf1364ba69 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Mon, 29 Aug 2022 14:31:38 -0700 Subject: [PATCH] Remove instructions to checkout feature/upright_camera_view branch. --- example_7.md | 14 ++++---------- 1 file changed, 4 insertions(+), 10 deletions(-) diff --git a/example_7.md b/example_7.md index 5821707..bd7b93f 100644 --- a/example_7.md +++ b/example_7.md @@ -7,13 +7,7 @@ In this example, we will review the [image_view](http://wiki.ros.org/image_view?

-Begin by checking out the [feature/upright_camera_view](https://github.com/hello-robot/stretch_ros/tree/feature/upright_camera_view) branch in the [stretch_ros](https://github.com/hello-robot/stretch_ros) repository. The configuration of the camera results in the images being displayed sideways. Thus, this branch publishes a new topic that rotates the raw image upright. - -```bash -cd ~/catkin_ws/src/stretch_ros/stretch_core -git checkout feature/upright_camera_view -``` -Then run the stretch driver launch file. +Begin by running the stretch `driver.launch` file. ```bash # Terminal 1 @@ -84,7 +78,7 @@ class CaptureImage: :param self: The self reference. """ self.bridge = CvBridge() - self.sub = rospy.Subscriber('/camera/color/image_raw_upright_view', Image, self.callback, queue_size=1) + self.sub = rospy.Subscriber('/camera/color/image_raw', Image, self.callback, queue_size=1) self.save_path = '/home/hello-robot/catkin_ws/src/stretch_tutorials/stored_data' def callback(self, msg): @@ -141,7 +135,7 @@ def __init__(self): :param self: The self reference. """ self.bridge = CvBridge() - self.sub = rospy.Subscriber('/camera/color/image_raw_upright_view', Image, self.callback, queue_size=1) + self.sub = rospy.Subscriber('/camera/color/image_raw', Image, self.callback, queue_size=1) self.save_path = '/home/hello-robot/catkin_ws/src/stretch_tutorials/stored_data' ``` Initialize the CvBridge class, the subscriber, and the directory of where the captured image will be stored. @@ -227,7 +221,7 @@ class EdgeDetection: :param self: The self reference. """ self.bridge = CvBridge() - self.sub = rospy.Subscriber('/camera/color/image_raw_upright_view', Image, self.callback, queue_size=1) + self.sub = rospy.Subscriber('/camera/color/image_raw', Image, self.callback, queue_size=1) self.pub = rospy.Publisher('/image_edge_detection', Image, queue_size=1) self.save_path = '/home/hello-robot/catkin_ws/src/stretch_tutorials/stored_data' self.lower_thres = 100