Arcanain Image Processing Tutorial

Description

This package provides a set of ROS 2 nodes for various image processing tasks such as resizing, converting to grayscale, adjusting brightness and contrast, and rotating images. Each node subscribes to image topics, processes the images, and publishes the result to another topic.

Setup

Dependencies

• ROS 2 (Foxy or newer recommended)
• OpenCV 4.x
• cv_bridge
• image_transport

Building the Package

1. Clone the repository into your ROS 2 workspace (e.g., ~/dev_ws/src/).
2. Navigate to the root of your workspace (e.g., ~/dev_ws).
3. Build the workspace using the following command:

   colcon build --packages-select arcanain_imageprocessing_tutorial
   

4. Source the setup file to include the workspace in your ROS 2 environment:

   source install/setup.bash
   

Nodes Description and Usage

Random Image Publisher

This node generates random images and publishes them.

• Topic Published: /random_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial random_image_publisher
  

Image Subscriber (Sub View)

This node subscribes to an image topic and displays the images using OpenCV.

• Topic Subscribed: /processed_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_subscriber
  

Image Resize Publisher-Subscriber

This node resizes images to half their original size.

• Topic Subscribed: /image (sensor_msgs/Image)
• Topic Published: /resized_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_resize_pub_sub
  

Image Grayscale Publisher-Subscriber

Converts color images to grayscale.

• Topic Subscribed: /image (sensor_msgs/Image)
• Topic Published: /grayscale_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_grayscale_pub_sub
  

Image Adjust Brightness Publisher-Subscriber

Adjusts the brightness of images.

• Topic Subscribed: /image (sensor_msgs/Image)
• Topic Published: /brightness_adjusted_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_adjust_brightness_pub_sub
  

Image Adjust Contrast Publisher-Subscriber

Adjusts the contrast of images.

• Topic Subscribed: /image (sensor_msgs/Image)
• Topic Published: /contrast_adjusted_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_adjust_contrast_pub_sub
  

Image Rotate Publisher-Subscriber

Rotates images by 90 degrees.

• Topic Subscribed: /image (sensor_msgs/Image)
• Topic Published: /rotated_image (sensor_msgs/Image)
• Command to Run:

  ros2 run arcanain_imageprocessing_tutorial image_rotate_pub_sub
  

Running the Nodes

To run any of the above nodes, open a new terminal, source your ROS 2 environment, and use the corresponding command as shown in the usage section for each node. Ensure that the topics correspond to your specific setup or modify the topic names in the source code as needed.