# Include our package.xml file (os.path.join('share', package_name), ['package.xml']), # Include all launch files. - (os.path.join('share', package_name, 'launch'), \ + (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))), ], install_requires=['setuptools'],

from ultralytics.utils.plotting import Annotator, colors from cv_bridge import CvBridge, CvBridgeError - -class CameraSyncNode(Node): # synchronizes visualizations + + +class CameraSyncNode(Node): # synchronizes visualizations def __init__(self): super().__init__('camera_sync_node') self.get_logger().info("Camera Sync Node")

self.cv_bridge = CvBridge() self.line_thickness = 1 self.names = [] - + self.ts = ApproximateTimeSynchronizer( [self.camera_img_sub, self.camera_detection_sub,

self.traffic_lights_sub], queue_size=10, slop=0.1) - + self.ts.registerCallback(self.callback) - - self.combined_detection_publisher = self.create_publisher(Detection2DArray, self.combined_detection_topic, 10) + + self.combined_detection_publisher = self.create_publisher( + Detection2DArray, self.combined_detection_topic, 10) self.vis_publisher = self.create_publisher(Image, self.publish_vis_topic, 10) def process_img(self, image):

self.get_logger().error(str(e)) return return cv_image - + def postprocess_detections(self, detections, annotator): """ Post-process draws bouningboxes on camera image.

annotator_img = annotator.result() return (processed_detections, annotator_img) - + def publish_detections(self, detections, msg, feed): # Publish detections to an detectionList message detection2darray = Detection2DArray()

detection2darray.detections.append(detection2d) self.combined_detection_publisher.publish(detection2darray) - + def publish_vis(self, annotated_img, msg): # Publish visualizations imgmsg = self.cv_bridge.cv2_to_imgmsg(annotated_img, "bgr8")

imgmsg.header.frame_id = msg.header.frame_id self.get_logger().info("Publish img") self.vis_publisher.publish(imgmsg) - + def callback( self, camera_img_sub,

): cv_image = self.process_img(camera_img_sub) - combined_detections = camera_detection_sub.detections + traffic_lights_sub.detections + traffic_signs_sub.detections + combined_detections = camera_detection_sub.detections + \ + traffic_lights_sub.detections + traffic_signs_sub.detections annotator = Annotator( cv_image, line_width=self.line_thickness, example=str(self.names), ) - + detections = [] for det in combined_detections: obj_with_pose = det.results[0]

self.publish_detections(combined_detections, camera_detection_sub, "") self.publish_vis(annotated_img, camera_img_sub) - + + def main(args=None): rclpy.init(args=args) node = CameraSyncNode() - + rclpy.spin(node) - + node.destroy_node() rclpy.shutdown() - + + if __name__ == '__main__': - main() \ No newline at end of file + main()

Detected infrastructure changes

Using camera-sync-dan as the source branch

Using main as the target branch