ROS 2 node that flips image and publishes updated transform

image_flip/CHANGELOG.rst

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+0.0.2 (2022-05-01)
+------------------
+* Move to rclcpp_components composable node
+0.0.1 (2022-04-03)
+------------------
+* Original release
+* Based on image_rotate 2.2.1

image_flip/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(image_flip)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+find_package(OpenCV REQUIRED core imgproc)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED src/image_flip_node.cpp)
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "${PROJECT_NAME}::ImageFlipNode"
+  EXECUTABLE image_flip_node
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE launch)

image_flip/cfg/ImageFlip.cfg

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+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2010, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+PACKAGE='image_flip'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+gen.add("output_frame_id", str_t, 0, "Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame.", "")
+gen.add("rotation_steps", double_t, 0, "number of 90 degree increments (1, 2, 3) .", 2, 1, 3)
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to pass camera_info.", True)
+gen.add("in_image_topic_name", str_t, 0, "Base input topic name ", "image")
+gen.add("out_image_topic_name", str_t, 0, "Base input topic name ", "image_rotated")
+
+
+exit(gen.generate(PACKAGE, "image_flip", "ImageFlip"))

image_flip/include/image_flip/image_flip_node.hpp

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+// Copyright (c) 2022, CHRISLab, Christopher Newport University
+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the Willow Garage nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+#ifndef IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
+#define IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <image_transport/image_transport.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <math.h>
+#include <memory>
+#include <string>
+
+#include "image_flip/visibility.h"
+
+namespace image_flip
+{
+
+struct ImageFlipConfig
+{
+  std::string output_frame_id;
+  int rotation_steps;
+  bool use_camera_info;
+  std::string in_image_topic_name;
+  std::string out_image_topic_name;
+
+};
+
+class ImageFlipNode : public rclcpp::Node
+{
+public:
+  IMAGE_FLIP_PUBLIC ImageFlipNode(rclcpp::NodeOptions options);
+
+private:
+  const std::string frameWithDefault(const std::string & frame, const std::string & image_frame);
+  void imageCallbackWithInfo(
+    const sensor_msgs::msg::Image::ConstSharedPtr & msg,
+    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info);
+  void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg);
+  void do_work(
+    const sensor_msgs::msg::Image::ConstSharedPtr & msg,
+    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info,
+    const std::string input_frame_from_msg);
+  void subscribe();
+  void unsubscribe();
+  void connectCb();
+  void disconnectCb();
+  void onInit();
+
+  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
+
+  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
+  std::shared_ptr<tf2_ros::TransformListener> tf_sub_;
+  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_pub_;
+
+  image_flip::ImageFlipConfig config_;
+
+  image_transport::Publisher img_pub_;
+  image_transport::Subscriber img_sub_;
+  image_transport::CameraSubscriber cam_sub_;
+  image_transport::CameraPublisher cam_pub_;
+
+  int subscriber_count_;
+  double angle_;
+  tf2::TimePoint prev_stamp_;
+  geometry_msgs::msg::TransformStamped transform_;
+
+};
+}  // namespace image_flip
+
+#endif  // IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_

image_flip/include/image_flip/visibility.h

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+// Copyright (c) 2008, Willow Garage, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the Willow Garage nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+#ifndef IMAGE_FLIP__VISIBILITY_H_
+#define IMAGE_FLIP__VISIBILITY_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+
+  #ifdef __GNUC__
+    #define IMAGE_FLIP_EXPORT __attribute__ ((dllexport))
+    #define IMAGE_FLIP_IMPORT __attribute__ ((dllimport))
+  #else
+    #define IMAGE_FLIP_EXPORT __declspec(dllexport)
+    #define IMAGE_FLIP_IMPORT __declspec(dllimport)
+  #endif
+
+  #ifdef IMAGE_FLIP_DLL
+    #define IMAGE_FLIP_PUBLIC IMAGE_FLIP_EXPORT
+  #else
+    #define IMAGE_FLIP_PUBLIC IMAGE_FLIP_IMPORT
+  #endif
+
+  #define IMAGE_FLIP_PUBLIC_TYPE IMAGE_FLIP_PUBLIC
+
+  #define IMAGE_FLIP_LOCAL
+
+#else
+
+  #define IMAGE_FLIP_EXPORT __attribute__ ((visibility("default")))
+  #define IMAGE_FLIP_IMPORT
+
+  #if __GNUC__ >= 4
+    #define IMAGE_FLIP_PUBLIC __attribute__ ((visibility("default")))
+    #define IMAGE_FLIP_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define IMAGE_FLIP_PUBLIC
+    #define IMAGE_FLIP_LOCAL
+  #endif
+
+  #define IMAGE_FLIP_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // IMAGE_FLIP__VISIBILITY_H_

image_flip/launch/image_flip.launch.py

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+# Copyright (c) 2022, CHRISLab, Christopher Newport University
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the Willow Garage nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from launch import LaunchDescription
+import launch_ros.actions
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        launch_ros.actions.Node(
+            package='image_rotate', node_executable='image_rotate', output='screen',
+            remappings=[('image', '/camera/rgb/image_raw'),
+                        ('camera_info', '/camera/rgb/camera_info'),
+                        ('output_image', '/camera/rotated/image_raw'),
+                        ('output_camera_info', '/camera/rotated/camera_info']),
+    ])

image_flip/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b image_flip is a simpler image_rotate limited to 90 degree rotations.
+
+It preserves the size data and publishes a camera_info topic,
+as well as a tf transform between original optical frame and rotated frame
+... 
+
+<!--
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/