添加相机数据采集服务客户端

vision_detect/setup.py

@@ -43,6 +43,9 @@ setup(
             'get_camera_pose_node = vision_detect.get_camera_pose:main',
             
             'detect_node = vision_detect.detect_node:main',
+
+            'collect_data_node = vision_detect.collect_data_node:main',
+            'collect_data_client = vision_detect.collect_data_client:main',
         ],
     },
 )

vision_detect/vision_detect/collect_data_client.py

@@ -0,0 +1,44 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.parameter import Parameter
+
+from std_srvs.srv import SetBool
+
+
+def result_callback(result):
+    pass
+
+
+def main(args=None):
+    def timer_callback():
+        start_sign = node.get_parameter("collect_sign").value
+        end_sign = node.get_parameter("end_sign").value
+
+        if start_sign:
+            request = SetBool.Request()
+            request.data = True
+            client.call_async(request).add_done_callback(result_callback)
+            node.set_parameters([Parameter('collect_sign', Parameter.Type.BOOL, False)])
+
+
+        if end_sign:
+            request = SetBool.Request()
+            request.data = False
+            client.call_async(request).add_done_callback(result_callback)
+            node.set_parameters([Parameter('end_sign', Parameter.Type.BOOL, False)])
+
+
+    rclpy.init(args=args)
+    node = Node("collect_data_client")
+    client = node.create_client(SetBool, "/collect_data")
+    while not client.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('Service not available, waiting again...')
+    node.declare_parameter("collect_sign", False)
+    node.declare_parameter("end_sign", False)
+    node.create_timer(0.5, timer_callback)
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()

vision_detect/vision_detect/collect_data_node.py

@@ -2,7 +2,6 @@ import os
 import json
 
 import cv2
-import numpy as np
 
 import rclpy
 from rclpy.node import Node