use opencv for image taking and writing

src/camera/camera/camera_controller.py

@@ -3,24 +3,27 @@ from rclpy.node import Node
 
 from drone_services.srv import TakePicture
 
-from picamera2 import Picamera2
+from cv2 import *
 
 
 class CameraController(Node):
     def __init__(self):
         super().__init__('camera_controller')
-        self.picam2 = Picamera2()
+        self.cam = VideoCapture(0)
+
         self.srv = self.create_service(TakePicture, 'drone/picture', self.take_picture_callback)
 
     def take_picture_callback(self, request, response):
-        if (request.input_name == "default"):
-            self.get_logger().info("Taking picture with default filename")
-            self.picam2.start_and_capture_file("/home/ubuntu/image.jpg")
-            response.filename = "/home/ubuntu/image.jpg"
-        else:
-            self.picam2.start_and_capture_file(request.input_name)
-            response.filename = request.input_name
-        return response
+        result, image = self.cam.read()
+        if (result):
+            if (request.input_name == "default"):
+                self.get_logger().info("Taking picture with default filename")
+                imwrite("/home/ubuntu/image.jpg", image)
+                response.filename = "/home/ubuntu/image.jpg"
+            else:
+                imwrite(request.input_name, image)
+                response.filename = request.input_name
+            return response
 
 def main(args=None):
     rclpy.init(args=args)