sem/5g_drone_ROS2
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change location of camera image

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Sem van der Hoeven
2023-05-30 14:50:51 +02:00
parent bc1bc0dae6
commit 00f6307909
3 changed files with 12 additions and 13 deletions
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21
src/api_communication/api_communication/api_listener.py
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@@ -124,20 +124,17 @@ class ApiListener(Node):
self.get_logger().info('Calling take picture service')
future = self.take_picture_client.call_async(self.take_picture_request)
future.add_done_callback(partial(self.image_request_callback))
def image_request_callback(self, future):
try:
result_filename = future.result()
result_filename = result_filename.replace("/home/ubuntu/ros2_ws/api/public", "")
self.get_logger().info("Received result filename: " + result_filename)
with open(result_filename, 'rb') as f:
self.get_logger().info('Reading image')
image_data = f.read()
self.message_queue.append(json.dumps(
{'type': ResponseMessage.IMAGE.name, 'image': image_data}))
self.message_queue.append(json.dumps(
{'type': ResponseMessage.IMAGE.name, 'image': result_filename}))
except Exception as e:
self.get_logger().error('Something went wrong while sending a take picture request and waiting for the response: %r' % (e))
self.get_logger().error(
'Something went wrong while sending a take picture request and waiting for the response: %r' % (e))
def send_available_commands(self):
print('Sending available commands')
@@ -234,10 +231,12 @@ class ApiListener(Node):
self.get_logger().info('Emergency stop command received')
# emergency stop: set to attitude mode and stop, also disarm
else:
self.get_logger().error('Received unknown command ' + str(message_json['command']) )
self.get_logger().error('Received unknown command ' +
str(message_json['command']))
self.send_available_commands()
except TypeError:
self.get_logger().error('Received unknown type: ' +str(type(message)) + " " + str(message))
self.get_logger().error('Received unknown type: ' +
str(type(message)) + " " + str(message))
self.send_available_commands()
except json.JSONDecodeError:
self.get_logger().error('Received invalid JSON')