add image save interface and raw control interface

src/CMakeLists.txt

@@ -46,6 +46,7 @@ set(action_files
   action/MoveWheel.action
   action/ExecuteBtAction.action
   action/GripperCmd.action
+  action/VisionObjectRecognition.action
 )
 set(srv_files
   srv/VisionObjectRecognition.srv
@@ -55,6 +56,9 @@ set(srv_files
   srv/MotorParam.srv
   srv/GripperCmd.srv
   srv/MotorInfo.srv
+  srv/SetCameraRawParams.srv
+  srv/SetCameraRawStatus.srv
+  srv/SaveCameraImages.srv
 )
 
 include_directories(include)

src/action/VisionObjectRecognition.action

@@ -0,0 +1,12 @@
+string[] camera_positions
+string[] classes
+
+---
+std_msgs/Header header
+string info
+bool success
+interfaces/PoseClassAndID[] objects
+
+---
+int8 status
+string info

src/srv/SaveCameraImages.srv

@@ -0,0 +1,8 @@
+string[] camera_positions
+string[] image_types
+
+string save_dir
+string save_type
+---
+bool[] success
+string[] info

src/srv/SetCameraRawParams.srv

@@ -0,0 +1,7 @@
+string camera_position
+string raw
+int32 exposure
+int32 gain
+---
+bool success
+string info

src/srv/SetCameraRawStatus.srv

@@ -0,0 +1,7 @@
+string camera_position
+bool color_raw
+bool depth_raw
+bool ir_raw
+---
+bool success
+string info

src/srv/VisionObjectRecognition.srv

@@ -1,4 +1,5 @@
 string camera_position
+string[] classes
 
 ---