cpp camera merge to main by DueroBone · Pull Request #29 · EVC-Purdue/AutonomousKart

DueroBone · 2026-02-08T21:16:21Z

No description provided.

Totally spelled correctly

Copilot

Pull request overview

This PR migrates the ROS2 camera publisher from the autonomous_kart Python package to a new C++ (ament_cmake) package (autonomous_kart_cpp) and updates launch/scripts to use the C++ camera node.

Changes:

Added a new autonomous_kart_cpp package with a C++ camera_node that publishes /camera/image_raw via OpenCV/cv_bridge.
Updated bringup launch files to run the C++ camera node; removed the old Python camera node implementation.
Updated autonomous_kart packaging/script files and added workspace/editor artifacts.

Reviewed changes

Copilot reviewed 11 out of 17 changed files in this pull request and generated 15 comments.

Show a summary per file

File	Description
`src/autonomous_kart_cpp/src/camera_node.cpp`	New C++ camera node with simulation video playback + publishing thread/timer logic
`src/autonomous_kart_cpp/CMakeLists.txt`	New build rules for the C++ camera executable
`src/autonomous_kart_cpp/package.xml`	New package manifest for the C++ camera package
`src/autonomous_kart/setup.py`	Disables Python camera package and alters `camera_node` console script entry point
`src/autonomous_kart/autonomous_kart/launch/bringup_sim.launch.py`	Switches camera node launch from `autonomous_kart` to `autonomous_kart_cpp`
`src/autonomous_kart/autonomous_kart/launch/bringup_pi.launch.py`	Switches camera node launch from `autonomous_kart` to `autonomous_kart_cpp`
`src/autonomous_kart/autonomous_kart/nodes/opencv_pathfinder/opencv_pathfinder_node.py`	Adds timing variables in image callback
`src/autonomous_kart/autonomous_kart/nodes/camera/camera_node.py`	Removes the previous Python camera node
`scripts/start.bash`	Builds with `--symlink-install` before launching
`src/autonomous_kart/autonomous_kart/params/pathfinder.yaml`	Whitespace-only change
`.vscode/settings.json`	Adds VS Code workspace settings (includes absolute paths)
`.vscode/c_cpp_properties.json`	Adds VS Code C++ IntelliSense configuration
`.vscode/browse.vc.db-wal`	Adds VS Code generated DB artifact
`.vscode/browse.vc.db-shm`	Adds VS Code generated DB artifact
`data/.DS_Store`	Adds macOS Finder metadata file
`.DS_Store`	Adds macOS Finder metadata file

Comments suppressed due to low confidence (1)

src/autonomous_kart/autonomous_kart/launch/bringup_sim.launch.py:46

These launch files now reference the autonomous_kart_cpp package for the camera node. The autonomous_kart package manifest should declare a runtime dependency on autonomous_kart_cpp (so the launch file’s dependency is explicit and installations don’t fail at runtime).

                    Node(
                        package="autonomous_kart_cpp",
                        executable="camera_node",
                        name="camera_node",
                        parameters=[camera_yaml],
                    ),

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src/autonomous_kart_cpp/src/camera_node.cpp

Copilot · 2026-02-08T21:22:16Z

src/autonomous_kart_cpp/src/camera_node.cpp

+      std::string video_path = "/ws/data/EVC_test_footage/vid.mp4"; // using low quality video for performance
+      cap_.open(video_path);


The simulation video path is hard-coded to /ws/data/.../vid.mp4, which makes the node non-portable and hard to deploy. Consider declaring a video_path parameter (with a reasonable default) and using that instead.

Copilot · 2026-02-08T21:22:17Z

src/autonomous_kart_cpp/CMakeLists.txt

+find_package(OpenCV REQUIRED)
+
+add_executable(camera_node src/camera_node.cpp)
+ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge OpenCV)


ament_target_dependencies(camera_node ... OpenCV) may not be the right way to link against system OpenCV. If this fails to link/include correctly, prefer using target_link_libraries(camera_node ${OpenCV_LIBS}) (or OpenCV imported targets) and target_include_directories with ${OpenCV_INCLUDE_DIRS}.

Suggested change

ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge OpenCV)

ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge)

target_include_directories(camera_node PUBLIC ${OpenCV_INCLUDE_DIRS})

target_link_libraries(camera_node ${OpenCV_LIBRARIES})

Copilot · 2026-02-08T21:22:18Z

src/autonomous_kart_cpp/src/camera_node.cpp

+#include "cv_bridge/cv_bridge.h"
+#include "opencv2/opencv.hpp"
+#include <thread>
+#include <mutex>


This file uses std::vector and std::chrono (and std::bind) but does not include <vector> / <chrono> / <functional>. Relying on transitive includes is brittle and can break builds with different standard libraries; please include the headers you directly use.

Suggested change

#include <mutex>

#include <mutex>

#include <chrono>

#include <functional>

#include <vector>

src/autonomous_kart_cpp/package.xml

Copilot · 2026-02-08T21:22:19Z

src/autonomous_kart/autonomous_kart/nodes/opencv_pathfinder/opencv_pathfinder_node.py

        self.angle_pub.publish(self.angle_msg)
+        endTime = self.get_clock().now()
+        elapsedTime = (endTime - startTime).nanoseconds / 1e6
+        # self.logger.info(f"Processing time: {elapsedTime:.2f} ms")


startTime, endTime, and elapsedTime are assigned but never used (the logging line is commented out). This will fail ament_flake8 (F841) in this repo; either use the values (re-enable logging) or remove these variables.

Suggested change

# self.logger.info(f"Processing time: {elapsedTime:.2f} ms")

self.logger.info(f"Processing time: {elapsedTime:.2f} ms")

Copilot · 2026-02-08T21:22:19Z

src/autonomous_kart_cpp/src/camera_node.cpp

+    }
+    else
+    {
+      cap_.open(0);


In REAL mode (simulation_mode false), no thread/timer path ever calls cap_.read(...) to populate latest_frame_, so the node will continuously warn and never publish images. Either read from cap_ in timer_callback() for real mode or start a reader thread for both modes.

Suggested change

cap_.open(0);

cap_.open(0);

if (!cap_.isOpened())

{

RCLCPP_ERROR(this->get_logger(), "Failed to open camera device 0");

}

else

{

video_fps_ = cap_.get(cv::CAP_PROP_FPS);

reader_thread_ = std::thread(&CameraNode::read_frames, this);

}

Copilot · 2026-02-08T21:22:19Z

src/autonomous_kart/autonomous_kart/nodes/opencv_pathfinder/opencv_pathfinder_node.py

            self.angle_msg.data = angles
        self.angle_pub.publish(self.angle_msg)
+        endTime = self.get_clock().now()
+        elapsedTime = (endTime - startTime).nanoseconds / 1e6


Variable elapsedTime is not used.

ShayManor

Please remove the .vscode folder

ShayManor · 2026-02-08T21:24:23Z

data/.DS_Store

Please delete this

scripts/start.bash

ShayManor · 2026-02-08T21:25:35Z

data/EVC_test_footage/vid.mp4

Please delete

src/autonomous_kart/autonomous_kart/nodes/opencv_pathfinder/opencv_pathfinder_node.py

src/autonomous_kart_cpp/src/camera_node.cpp

src/autonomous_kart_cpp/package.xml

ShayManor · 2026-02-08T21:29:50Z

.DS_Store

Please remove

DueroBone and others added 14 commits November 2, 2025 17:59

Attempt at cpp camera

5c4341e

Successfull build

7a2cfa5

Totally spelled correctly

Merge branch 'main' into dmood/cpp-camera

0bd2a9f

Merge stuff

5a1f961

Improved logging

d655f4f

Merge branch 'main' into dmood/cpp-camera

68a2c26

Camera go zoom?

9a2c899

Use low quality video

e41a02f

Merged main into cpp-camera

0779e1d

Merge branch 'main' into dmood/cpp-camera

9efad18

Set ros distro in vscode settings

58c1a45

Merge branch 'main' into dmood/cpp-camera

e923ac6

Had to reorder start.bash to sucsessfully build

f78f1b3

Delete old python node

4d81c12

Copilot AI review requested due to automatic review settings February 8, 2026 21:16

Copilot started reviewing on behalf of DueroBone February 8, 2026 21:16 View session

Copilot AI reviewed Feb 8, 2026

View reviewed changes

ShayManor reviewed Feb 8, 2026

View reviewed changes

DueroBone added 2 commits February 8, 2026 21:34

Removed .vscode dir

3751b45

Remove more unnecesary directories

f34cfff

ShayManor reviewed Feb 9, 2026

View reviewed changes

DueroBone added 2 commits February 15, 2026 18:11

Resolve PR issues

0ac1bf3

Refactor video FPS handling and remove unnecessary comment

a188a24

		std::string video_path = "/ws/data/EVC_test_footage/vid.mp4"; // using low quality video for performance
		cap_.open(video_path);

-ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge OpenCV)
+ament_target_dependencies(camera_node rclcpp sensor_msgs cv_bridge)
+target_include_directories(camera_node PUBLIC ${OpenCV_INCLUDE_DIRS})
+target_link_libraries(camera_node ${OpenCV_LIBRARIES})

-#include <mutex>
+#include <mutex>
+#include <chrono>
+#include <functional>
+#include <vector>

	# self.logger.info(f"Processing time: {elapsedTime:.2f} ms")
	self.logger.info(f"Processing time: {elapsedTime:.2f} ms")

-      cap_.open(0);
+      cap_.open(0);
+      if (!cap_.isOpened())
+      {
+        RCLCPP_ERROR(this->get_logger(), "Failed to open camera device 0");
+      }
+      else
+      {
+        video_fps_ = cap_.get(cv::CAP_PROP_FPS);
+        reader_thread_ = std::thread(&CameraNode::read_frames, this);
+      }

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DueroBone commented Feb 8, 2026

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