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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Copilot · 2026-02-08T21:22:16Z

+      }
+      video_fps_ = cap_.get(cv::CAP_PROP_FPS);
+      reader_thread_ = std::thread(&CameraNode::read_frames, this);


If the simulation video fails to open, video_fps_ will likely be 0 and read_frames() will compute 1.0 / video_fps_, causing a division-by-zero and/or a tight loop on an unopened capture. Consider bailing out (don’t start the reader thread) when cap_.isOpened() is false, and validate video_fps_ > 0 with a fallback (e.g., fps_).

Suggested change

}

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

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

// Fall back to configured FPS to avoid using an uninitialized/zero video_fps_

video_fps_ = fps_;

}

else

{

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

if (video_fps_ <= 0.0)

{

RCLCPP_WARN(this->get_logger(),

"Video reported invalid FPS (%.2f). Falling back to configured FPS (%.2f).",

video_fps_, fps_);

video_fps_ = fps_;

}

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

}

Don't need to do all of this but please gate. Use 60 as a default.

Copilot · 2026-02-08T21:22:17Z

+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 · 2026-02-08T21:22:19Z

        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

+    }
+    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

            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

Please delete this

ShayManor · 2026-02-08T21:25:35Z

Please delete

ShayManor · 2026-02-08T21:27:27Z

+      }
+      video_fps_ = cap_.get(cv::CAP_PROP_FPS);
+      reader_thread_ = std::thread(&CameraNode::read_frames, this);


Don't need to do all of this but please gate. Use 60 as a default.

ShayManor · 2026-02-08T21:29:50Z

Please remove

…mera binary resolution function

Co-authored-by: Copilot <copilot@github.com>

ShayManor · 2026-04-29T20:36:14Z

+        "autonomous_kart.nodes.localization",
+        "autonomous_kart.nodes.pathfinder.strategies",
    ],
    data_files=[


Please revert these changes, its irrelevant to the PR.

While I agree that it is irrelevant to the pr, I disagree that the formatting errors should remain

We don't have a standard linter for this project, so if the formatting issue is cosmetic and still works, we shouldn't make it. Two competing linters would create extra clutter/merge conflicts. If you are making this change, it should then be for the entire codebase.

Co-authored-by: Copilot <copilot@github.com>

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 and others added 5 commits February 15, 2026 18:11

Resolve PR issues

0ac1bf3

Refactor video FPS handling and remove unnecessary comment

a188a24

Enhance launch files to use ExecuteProcess for camera node and add ca…

d3075cb

…mera binary resolution function

Merge remote-tracking branch 'origin/main' into dmood/cpp-camera

9881363

Co-authored-by: Copilot <copilot@github.com>

Camera verification

7365581

Co-authored-by: Copilot <copilot@github.com>

ShayManor reviewed Apr 29, 2026

View reviewed changes

DueroBone and others added 2 commits May 1, 2026 17:11

Implimenting PR review requests

4c2ebf0

Refactoring for release

e6f105b

Co-authored-by: Copilot <copilot@github.com>

-      }
-      video_fps_ = cap_.get(cv::CAP_PROP_FPS);
-      reader_thread_ = std::thread(&CameraNode::read_frames, this);
+        // Fall back to configured FPS to avoid using an uninitialized/zero video_fps_
+        video_fps_ = fps_;
+      }
+      else
+      {
+        video_fps_ = cap_.get(cv::CAP_PROP_FPS);
+        if (video_fps_ <= 0.0)
+        {
+          RCLCPP_WARN(this->get_logger(),
+                      "Video reported invalid FPS (%.2f). Falling back to configured FPS (%.2f).",
+                      video_fps_, fps_);
+          video_fps_ = fps_;
+        }
+        reader_thread_ = std::thread(&CameraNode::read_frames, this);
+      }

-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})

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

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DueroBone commented Feb 8, 2026

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