The U.I Lives! Squashed all existing bugs (As far as I'm aware), mean…

…ing that multiple topics are subscribed too, being rendered, and without fail or concern. This was fixed with a spin_once and then controlling the spin speed manually, rather than letting RCLPY do it. In addition, adding a delay to the system helps solve some issues involving tab switching too fast.

ros2/UI/pages/🛣 Lane_Detection.py

@@ -5,6 +5,8 @@
 from rclpy.node import Node
 from rclpy.qos import qos_profile_sensor_data
 from cv_bridge import CvBridge
+import time
+
 
 class Image_Handler(Node):
 
@@ -14,11 +16,17 @@ def __init__(self):
         self._frame_containers = None
         super().__init__('Streamlit_Image_Handler')
         self._bridge = CvBridge()
-        self.camData_subscriber = self.create_subscription(
+        self.imgData_subscriber = self.create_subscription(
             Image,
             '/camera/image',
             self.camData_callback,
             qos_profile_sensor_data)
+        self.hsvData_subscriber = self.create_subscription(
+            Image,
+            '/camera/image_hsv',
+            self.hsvData_callback,
+            qos_profile_sensor_data)
+
 
     def tabs(self,tabs):
         self._tabs = tabs
@@ -30,39 +38,40 @@ def camData_callback(self, msg_in):
         raw = msg_in
         img = self._bridge.imgmsg_to_cv2(raw)
         self._frame_containers[0].image(img)
-        st.write("IMAGE RECIEVED")
 
-@st.cache_data
-def startup():
-    rclpy.init()
-    return None
+    def hsvData_callback(self, msg_in):
+        raw = msg_in
+        img = self._bridge.imgmsg_to_cv2(raw)
+        self._frame_containers[1].image(img)
 
-def render():
-     if("checkbox" not in st.session_state or st.session_state["checkbox"]):
-
 
 # See ../../ros2/src/lanefollowingtest/LaneDetection.py
 # This page should render ALL images in there, as well as publish
 if __name__ == "__main__":
     st.set_page_config(
         page_title="Lane Detection",
         page_icon="🛣")
-    startup()
-
-    st.session_state["checkbox"] = st.checkbox("Render Video Feed",callback = render)
+    time.sleep(0.2)
 
+    render = st.checkbox("Render Video Feed")
     st.write(
         "This should render all of the images related to Lane Detection, and relevant parameters.")
     tabs = st.tabs(["Original", "HSV", "Sliding Windows"])
 
     if "node" not in st.session_state:
-            handler = Image_Handler()
-            handler.tabs(tabs)
-            st.session_state["node"] = handler    
-    if(render):
-        rclpy.spin(st.session_state['node'])
-        st.session_state['node'].destroy_node()
-        rclpy.shutdown()
-
-    # I Don't even know if we'll want this, but it's a nice to have anyway
-    Restart = st.button("ESTOP", type="primary")
+            try:
+                rclpy.init()
+            except RuntimeError:
+                 st.warning("something went wrong performance may be degraded. Try restarting fully")
+            finally:                 
+                handler = Image_Handler()
+                handler.tabs(tabs)
+                st.session_state["node"] = handler
+    if render:
+            while(True):
+                try:
+                    rclpy.spin_once(st.session_state['node'])
+                    time.sleep(0.01)                     
+                except:
+                     st.warning("Something went wrong, perhaps tabs were clicked too quickly? Try restarting.")
+                     break

ros2/src/lanefollowingtest/cam_publisher.py

@@ -11,7 +11,7 @@ def __init__(self):
         self.logger = self.get_logger()
 
         # Set desired frame rate (may need adjustment based on hardware)
-        self.frame_rate = 60
+        self.frame_rate = 30
 
         # Initialize OpenCV video capture object
         self.cap = cv2.VideoCapture("/dev/video0")  # 0 for default webcam
@@ -26,11 +26,11 @@ def __init__(self):
 
         # Create image publisher
         self.image_pub = self.create_publisher(
-            Image, '/camera/image', 10)  # Adjust queue size if needed
+            Image, '/camera/image', 5)  # Adjust queue size if needed
 
-                # Create image publisher
+        #         # Create image publisher
         self.hsv_pub = self.create_publisher(
-            Image, '/camera/image_hsv', 10)  # Adjust queue size if needed
+            Image, '/camera/image_hsv', 5)  # Adjust queue size if needed
 
 
         # Timer to capture and publish images
@@ -45,14 +45,15 @@ def capture_and_publish(self):
         if not ret:
             self.logger.warn("Failed to capture image!")
             return
-
+        raw_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
+        raw_image = cv2.resize(raw_image, (640,480))
+        raw_image_msg = self.bridge.cv2_to_imgmsg(raw_image, "bgr8")
         # Convert OpenCV image to ROS image message
-        raw_image = self.bridge.cv2_to_imgmsg(cv_image, encoding="passthrough")
-        hsv_img = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
-        hsv_image = self.bridge.cv2_to_imgmsg(hsv_img, encoding="passthrough")
-        # Publish the image
-        self.image_pub.publish(raw_image)
-        self.hsv_pub.publish(hsv_image)
+        hsv_image = cv2.cvtColor(raw_image, cv2.COLOR_BGR2HSV)
+        hsv_image_msg = self.bridge.cv2_to_imgmsg(hsv_image, encoding="passthrough")
+        # # Publish the image
+        self.image_pub.publish(raw_image_msg)
+        self.hsv_pub.publish(hsv_image_msg)
 
 
 def main():