Merge branch '34-ros-package-repairs' of https://github.com/UBCAgroBo…

…t/ROS into 34-ros-package-repairs

ros2_ws/src/python_workspace/README.md

@@ -2,21 +2,20 @@
 # python_workspace package
 This package contains nodes that gets image data, runs inference on them and also converts it into output needed for the extermination team. 
 
-## Node list 
-> **Note:** All example commands are run under the `ros2_ws` directory.
-
 
-| Node Type         | Description | Subscribes To | Publishes To                      | Example command |
-|-------------------|-------------|---------------|-----------------------------------|-----------------|
-| Picture Node      | Captures and processes static images | -             | `/input_image`        | `ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p frame_rate:=1`|
-| Inference Node    | Runs inference on input images | `/input_image`  | - `/inference_out` <br> - `/output_img` | `ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'`|
-| Extermination Node| Processes inference results, displays and sends binary output for exttermination team | `/inference_out` | external binary        | `ros2 run python_workspace extermination_node`|
+## List of Topics and Data Types
 
+### Node list 
+> **Note:** All example commands are run under the `ros2_ws` directory.
 
+| Node Type         | Subscribes To | Publishes To                      | Example command |
+|-------------------|----------------|-----------------------------------|------|
+| Picture Node      | -                | `/input_image`        | `ros2 run python_workspace picture_node --ros-args -p static_image_path:='./../assets/maize' -p loop:=-1 -p frame_rate:=1`|
+| Inference Node    | `/input_image`            | -`/inference_out` <br> - `/output_img`             | `ros2 run python_workspace inference_node --ros-args -p weights_path:='../models/maize/Maize.pt'`|
+| Extermination Node    | `/inference_out`            | external binary        | `ros2 run python_workspace extermination_node`|
 
-Other nodes are still a WIP
 
-## List of Topics and Data Types
+### List of Topics and Data Types
 
 | Topic Name                  | Description                          | Data Type          |
 |-----------------------------|--------------------------------------|--------------------|
@@ -26,7 +25,7 @@ Other nodes are still a WIP
 
 
 
-## Argument List
+### Argument List
 
 | Node Type         | Argument Name       | Argument Type | Sample Argument Value                              | Description                                      |
 |-------------------|---------------------|---------------|----------------------------------------------------|--------------------------------------------------|
@@ -37,9 +36,10 @@ Other nodes are still a WIP
 
 
 ## Additional information
+
 ### Compiling new Changes
 ```bash
-colcon build --packages-select custom_interface python_workspace #not needed if the initial build uses  --symlink-install
+colcon build --packages-select custom_interface python_workspace
 source install/setup.bash
 ```
 
@@ -70,3 +70,35 @@ To view the image topic :
 1. go to plugins/visualization/image view. a new box will open up
 2. click refresh topic 
 3. select the name of the image topic you want to see
+
+
+
+## Testing the performance of the zed ros2 wrapper:
+
+### using top:
+ros2 node list
+top -c -p $(pgrep -d',' -f name_of_command)
+
+
+### using rqt:
+install rqt with 
+
+`sudo apt install ros-humble-rqt*`
+sudo apt install ros-${ROS_DISTRO}-rqt-top
+to launch, just type `rqt` into the terminal 
+
+
+### visualizing the image topics
+source: https://ros2jsguy.medium.com/4-data-visualization-using-ros-2-rviz2-pub-sub-communications-and-javascript-typescript-6e43cde75029
+
+
+
+
+### looking at the rviz2 display
+`ros2 launch zed_display_rviz2 display_zed_cam.launch.py camera_model:=zed2`
+
+# Running:
+```bash
+source install/setup.bash
+ros2 run python_workspace picture_node --ros-args -p static_image_path:=$IMAGE_FOLDER_PATH -p frame_rate:=1
+```