Add basic node form cam_vision

tuto_vision/scripts/cam_vision

+#!/usr/bin/python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+import  numpy as np
+import sys, cv2
+from cv_bridge import CvBridge
+
+
+class CameraVision(Node):
+
+    def __init__(self, name="cam_vision", timerFreq = 1/60.0):
+        super().__init__(name) # Create the node
+
+        # Initialize subscribers
+        self.create_subscription(Image, 'cam_rgb', self.rgb_callback, 10)
+        self.create_subscription(Image, 'cam_depth', self.depth_callback, 10)
+        self.create_subscription(Image, 'cam_infra_1', self.infra1_callback, 10)
+        self.create_subscription(Image, 'cam_infra_2', self.infra2_callback, 10)
+
+        # Initialize publishers
+        # self._rgb_publisher = self.create_publisher(Image, 'cam_rgb', 10)
+
+        # Initialize a clock for the publisher
+        self.create_timer(timerFreq, self.loop)
+
+        # Initialize a ROS2 Image to CV2 image converter
+        self._bridge = CvBridge()
+
+    # Callbacks
+    def rgb_callback(self, img):
+        self._rgb_img = self._bridge.imgmsg_to_cv2(img, desired_encoding='passthrough')
+    def depth_callback(self, img):
+        self._depth_img = self._bridge.imgmsg_to_cv2(img, desired_encoding='passthrough')
+    def infra1_callback(self, img):
+        self._infra1_img = self._bridge.imgmsg_to_cv2(img, desired_encoding='passthrough')
+    def infra2_callback(self, img):
+        self._infra2_img = self._bridge.imgmsg_to_cv2(img, desired_encoding='passthrough')
+
+    # Publish functions
+    # def publish_rgb(self):
+    #     """ 
+    #     Publish RGB image
+    #     """
+
+    #     self._rgb_publisher.publish(self._rgb_image)
+
+    #     return 0
+        
+    # Node internal loop
+    def loop(self):
+        pass
+    
+    
+
+def main():
+    """
+    Main loop
+    """
+    rclpy.init()
+    rosNode = CameraDriver(timerFreq=1.0/120)
+    rclpy.spin(rosNode)
+
+
+    rosNode.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
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