From 33cb6f8f95555c03436649a3bb98d255536c411a Mon Sep 17 00:00:00 2001
From: DorBenHarush <dor2981123@gmail.com>
Date: Tue, 11 Aug 2020 21:27:26 +0300
Subject: [PATCH 01/17] esp32-camera

* Example app for publishing information from camera

* add camera option to menuconfig and allowing it.
---
 apps/take_picture/app-colcon.meta             |  14 ++
 apps/take_picture/app.c                       | 197 ++++++++++++++++++
 .../main/Kconfig.projbuild                    |  65 ++++++
 microros_esp32_extensions/sdkconfig.defaults  |   1 +
 4 files changed, 277 insertions(+)
 create mode 100644 apps/take_picture/app-colcon.meta
 create mode 100644 apps/take_picture/app.c

diff --git a/apps/take_picture/app-colcon.meta b/apps/take_picture/app-colcon.meta
new file mode 100644
index 00000000..7943f031
--- /dev/null
+++ b/apps/take_picture/app-colcon.meta
@@ -0,0 +1,14 @@
+{
+    "names": {
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=1",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
+                "-DRMW_UXRCE_MAX_SERVICES=0",
+                "-DRMW_UXRCE_MAX_CLIENTS=0",
+                "-DRMW_UXRCE_MAX_HISTORY=1",
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
new file mode 100644
index 00000000..becc299d
--- /dev/null
+++ b/apps/take_picture/app.c
@@ -0,0 +1,197 @@
+/**
+ * This example takes a picture every 5s.
+   Example src: https://github.com/espressif/esp32-camera.git 
+ */
+
+#define BOARD_WROVER_KIT
+#define BOARD_ESP32CAM_AITHINKER
+
+
+// ================================ CODE ======================================
+
+#include <esp_event_loop.h>
+#include <esp_log.h>
+#include <esp_system.h>
+#include <nvs_flash.h>
+#include <sys/param.h>
+#include <string.h>
+
+#include <stdio.h>
+#include <unistd.h>
+
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <std_msgs/msg/int32.h>
+
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esp_camera.h"
+
+// WROVER-KIT PIN Map
+#ifdef BOARD_WROVER_KIT
+
+#define CAM_PIN_PWDN -1  //power down is not used
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 21
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 19
+#define CAM_PIN_D2 18
+#define CAM_PIN_D1 5
+#define CAM_PIN_D0 4
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+#endif
+
+// ESP32Cam (AiThinker) PIN Map
+#ifdef BOARD_ESP32CAM_AITHINKER
+
+#define CAM_PIN_PWDN 32
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 0
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 21
+#define CAM_PIN_D2 19
+#define CAM_PIN_D1 18
+#define CAM_PIN_D0 5
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+#endif
+
+static const char *TAG = "example:take_picture";
+
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+camera_fb_t *pic;
+
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{
+	UNUSED(last_call_time);
+	if (timer != NULL) {
+		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+		// use pic->buf to access the image
+		msg.data = pic->len;
+	}
+}
+
+
+static camera_config_t camera_config = {
+    .pin_pwdn = CAM_PIN_PWDN,
+    .pin_reset = CAM_PIN_RESET,
+    .pin_xclk = CAM_PIN_XCLK,
+    .pin_sscb_sda = CAM_PIN_SIOD,
+    .pin_sscb_scl = CAM_PIN_SIOC,
+
+    .pin_d7 = CAM_PIN_D7,
+    .pin_d6 = CAM_PIN_D6,
+    .pin_d5 = CAM_PIN_D5,
+    .pin_d4 = CAM_PIN_D4,
+    .pin_d3 = CAM_PIN_D3,
+    .pin_d2 = CAM_PIN_D2,
+    .pin_d1 = CAM_PIN_D1,
+    .pin_d0 = CAM_PIN_D0,
+    .pin_vsync = CAM_PIN_VSYNC,
+    .pin_href = CAM_PIN_HREF,
+    .pin_pclk = CAM_PIN_PCLK,
+
+    //XCLK 20MHz or 10MHz for OV2640 double FPS (Experimental)
+    .xclk_freq_hz = 20000000,
+    .ledc_timer = LEDC_TIMER_0,
+    .ledc_channel = LEDC_CHANNEL_0,
+
+    .pixel_format = PIXFORMAT_JPEG, //YUV422,GRAYSCALE,RGB565,JPEG
+    .frame_size = FRAMESIZE_VGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
+
+    .jpeg_quality = 12, //0-63 lower number means higher quality
+    .fb_count = 1       //if more than one, i2s runs in continuous mode. Use only with JPEG
+};
+
+static esp_err_t init_camera()
+{
+    //initialize the camera
+    esp_err_t err = esp_camera_init(&camera_config);
+    if (err != ESP_OK)
+    {
+        ESP_LOGE(TAG, "Camera Init Failed");
+        return err;
+    }
+
+    return ESP_OK;
+}
+
+void appMain(void * arg)
+{
+    init_camera();
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+	rclc_support_t support;
+
+	// create init_options
+	RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+	// create node
+	rcl_node_t node = rcl_get_zero_initialized_node();
+	RCCHECK(rclc_node_init_default(&node, "freertos_pictureSize_publisher", "", &support));
+
+	// create publisher
+	RCCHECK(rclc_publisher_init_default(
+		&publisher,
+		&node,
+		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+		"freertos_pictureSize_publisher"));
+
+	// create timer,
+	rcl_timer_t timer = rcl_get_zero_initialized_timer();
+	const unsigned int timer_timeout = 1000;
+	RCCHECK(rclc_timer_init_default(
+		&timer,
+		&support,
+		RCL_MS_TO_NS(timer_timeout),
+		timer_callback));
+
+	// create executor
+	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+
+	unsigned int rcl_wait_timeout = 1000;   // in ms
+	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+	RCCHECK(rclc_executor_add_timer(&executor, &timer));
+
+	msg.data = 0;
+
+	while(1){
+		rclc_executor_spin_some(&executor, 100);
+		usleep(100000);
+		//takes picture
+        	pic = esp_camera_fb_get();
+       		vTaskDelay(5000 / portTICK_RATE_MS);
+	}
+
+    // free resources
+	RCCHECK(rcl_publisher_fini(&publisher, &node))
+	RCCHECK(rcl_node_fini(&node))
+        vTaskDelete(NULL);
+}
diff --git a/microros_esp32_extensions/main/Kconfig.projbuild b/microros_esp32_extensions/main/Kconfig.projbuild
index 06226d68..8192ff93 100644
--- a/microros_esp32_extensions/main/Kconfig.projbuild
+++ b/microros_esp32_extensions/main/Kconfig.projbuild
@@ -54,3 +54,68 @@ menu "WiFi Configuration"
 endmenu
 
 endmenu
+menu "Camera configuration"
+      
+config OV2640_SUPPORT
+	bool "OV2640 Support"
+	default y
+	help
+		Enable this option if you want to use the OV2640.
+		Disable this option to save memory.
+
+config OV7725_SUPPORT
+	bool "OV7725 Support"
+	default n
+	help
+		Enable this option if you want to use the OV7725.
+		Disable this option to save memory.
+	
+config OV3660_SUPPORT
+    bool "OV3660 Support"
+    default y
+    help
+        Enable this option if you want to use the OV3360.
+        Disable this option to save memory.
+    
+config OV5640_SUPPORT
+    bool "OV5640 Support"
+    default y
+    help
+        Enable this option if you want to use the OV5640.
+        Disable this option to save memory.
+    
+config SCCB_HARDWARE_I2C
+    bool "Use hardware I2C for SCCB"
+    default y
+    help
+        Enable this option if you want to use hardware I2C to control the camera.
+        Disable this option to use software I2C.
+    
+choice SCCB_HARDWARE_I2C_PORT
+    bool "I2C peripheral to use for SCCB"
+    depends on SCCB_HARDWARE_I2C
+    default SCCB_HARDWARE_I2C_PORT1
+
+    config SCCB_HARDWARE_I2C_PORT0
+        bool "I2C0"
+    config SCCB_HARDWARE_I2C_PORT1
+        bool "I2C1"
+
+endchoice
+
+choice CAMERA_TASK_PINNED_TO_CORE
+    bool "Camera task pinned to core"
+    default CAMERA_CORE0
+    help
+        Pin the camera handle task to a certain core(0/1). It can also be done automatically choosing NO_AFFINITY.
+
+    config CAMERA_CORE0
+        bool "CORE0"
+    config CAMERA_CORE1
+        bool "CORE1"
+    config CAMERA_NO_AFFINITY
+        bool "NO_AFFINITY"
+
+endchoice
+    
+endmenu
diff --git a/microros_esp32_extensions/sdkconfig.defaults b/microros_esp32_extensions/sdkconfig.defaults
index 11698207..9ef1a8e6 100644
--- a/microros_esp32_extensions/sdkconfig.defaults
+++ b/microros_esp32_extensions/sdkconfig.defaults
@@ -1,3 +1,4 @@
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
+CONFIG_ESP32_SPIRAM_SUPPORT=y

From 54e2aae47980d935a9e7e99c317dea4bc2bd8876 Mon Sep 17 00:00:00 2001
From: DorBenHarush <dor2981123@gmail.com>
Date: Tue, 11 Aug 2020 22:06:04 +0300
Subject: [PATCH 02/17] Update NOTICE

---
 NOTICE | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/NOTICE b/NOTICE
index 636722cf..090d6257 100644
--- a/NOTICE
+++ b/NOTICE
@@ -28,3 +28,6 @@ eProsima
 Robert Bosch GmbH
     Ralph Lange <ralph.lange@de.bosch.com>
     Raphael Vogelgsang <Raphael.Vogelgsang@de.bosch.com>
+
+Dor Ben Harush 
+    Dor Ben Harush <dor2981123@gmail.com>

From 9b509c04d9b48137eccba1fb14162a9e7c5f46ef Mon Sep 17 00:00:00 2001
From: DorBenHarush <dor2981123@gmail.com>
Date: Wed, 12 Aug 2020 22:09:19 +0300
Subject: [PATCH 03/17] Add camera pinout choice

* Now it is possible to choose camera pinout in the menuconfig

Signed-off-by: Dor Ben Harush dor2981123@gmail.com
---
 apps/take_picture/app.c                       |  53 +------
 apps/take_picture/boards.h                    |  49 +++++++
 .../main/Kconfig.projbuild                    | 131 ++++++++++--------
 3 files changed, 127 insertions(+), 106 deletions(-)
 create mode 100644 apps/take_picture/boards.h

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index becc299d..12b208ef 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -3,8 +3,7 @@
    Example src: https://github.com/espressif/esp32-camera.git 
  */
 
-#define BOARD_WROVER_KIT
-#define BOARD_ESP32CAM_AITHINKER
+
 
 
 // ================================ CODE ======================================
@@ -29,54 +28,10 @@
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "boards.h"
+
+
 
-#include "esp_camera.h"
-
-// WROVER-KIT PIN Map
-#ifdef BOARD_WROVER_KIT
-
-#define CAM_PIN_PWDN -1  //power down is not used
-#define CAM_PIN_RESET -1 //software reset will be performed
-#define CAM_PIN_XCLK 21
-#define CAM_PIN_SIOD 26
-#define CAM_PIN_SIOC 27
-
-#define CAM_PIN_D7 35
-#define CAM_PIN_D6 34
-#define CAM_PIN_D5 39
-#define CAM_PIN_D4 36
-#define CAM_PIN_D3 19
-#define CAM_PIN_D2 18
-#define CAM_PIN_D1 5
-#define CAM_PIN_D0 4
-#define CAM_PIN_VSYNC 25
-#define CAM_PIN_HREF 23
-#define CAM_PIN_PCLK 22
-
-#endif
-
-// ESP32Cam (AiThinker) PIN Map
-#ifdef BOARD_ESP32CAM_AITHINKER
-
-#define CAM_PIN_PWDN 32
-#define CAM_PIN_RESET -1 //software reset will be performed
-#define CAM_PIN_XCLK 0
-#define CAM_PIN_SIOD 26
-#define CAM_PIN_SIOC 27
-
-#define CAM_PIN_D7 35
-#define CAM_PIN_D6 34
-#define CAM_PIN_D5 39
-#define CAM_PIN_D4 36
-#define CAM_PIN_D3 21
-#define CAM_PIN_D2 19
-#define CAM_PIN_D1 18
-#define CAM_PIN_D0 5
-#define CAM_PIN_VSYNC 25
-#define CAM_PIN_HREF 23
-#define CAM_PIN_PCLK 22
-
-#endif
 
 static const char *TAG = "example:take_picture";
 
diff --git a/apps/take_picture/boards.h b/apps/take_picture/boards.h
new file mode 100644
index 00000000..f8bad850
--- /dev/null
+++ b/apps/take_picture/boards.h
@@ -0,0 +1,49 @@
+#include "esp_camera.h"
+
+#define BOARD_WROVER_KIT CONFIG_BOARD_WROVER_KIT
+#define BOARD_ESP32CAM_AITHINKER CONFIG_BOARD_ESP32CAM_AITHINKER
+
+// WROVER-KIT PIN Map
+#if BOARD_WROVER_KIT
+
+#define CAM_PIN_PWDN -1  //power down is not used
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 21
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 19
+#define CAM_PIN_D2 18
+#define CAM_PIN_D1 5
+#define CAM_PIN_D0 4
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+// ESP32Cam (AiThinker) PIN Map
+#elif BOARD_ESP32CAM_AITHINKER
+
+
+#define CAM_PIN_PWDN 32
+#define CAM_PIN_RESET -1 //software reset will be performed
+#define CAM_PIN_XCLK 0
+#define CAM_PIN_SIOD 26
+#define CAM_PIN_SIOC 27
+
+#define CAM_PIN_D7 35
+#define CAM_PIN_D6 34
+#define CAM_PIN_D5 39
+#define CAM_PIN_D4 36
+#define CAM_PIN_D3 21
+#define CAM_PIN_D2 19
+#define CAM_PIN_D1 18
+#define CAM_PIN_D0 5
+#define CAM_PIN_VSYNC 25
+#define CAM_PIN_HREF 23
+#define CAM_PIN_PCLK 22
+
+#endif
diff --git a/microros_esp32_extensions/main/Kconfig.projbuild b/microros_esp32_extensions/main/Kconfig.projbuild
index 8192ff93..ec373b2c 100644
--- a/microros_esp32_extensions/main/Kconfig.projbuild
+++ b/microros_esp32_extensions/main/Kconfig.projbuild
@@ -54,68 +54,85 @@ menu "WiFi Configuration"
 endmenu
 
 endmenu
-menu "Camera configuration"
-      
-config OV2640_SUPPORT
-	bool "OV2640 Support"
-	default y
-	help
-		Enable this option if you want to use the OV2640.
-		Disable this option to save memory.
 
-config OV7725_SUPPORT
-	bool "OV7725 Support"
-	default n
-	help
-		Enable this option if you want to use the OV7725.
-		Disable this option to save memory.
-	
-config OV3660_SUPPORT
-    bool "OV3660 Support"
-    default y
-    help
-        Enable this option if you want to use the OV3360.
-        Disable this option to save memory.
-    
-config OV5640_SUPPORT
-    bool "OV5640 Support"
-    default y
-    help
-        Enable this option if you want to use the OV5640.
-        Disable this option to save memory.
-    
-config SCCB_HARDWARE_I2C
-    bool "Use hardware I2C for SCCB"
-    default y
-    help
-        Enable this option if you want to use hardware I2C to control the camera.
-        Disable this option to use software I2C.
-    
-choice SCCB_HARDWARE_I2C_PORT
-    bool "I2C peripheral to use for SCCB"
-    depends on SCCB_HARDWARE_I2C
-    default SCCB_HARDWARE_I2C_PORT1
 
-    config SCCB_HARDWARE_I2C_PORT0
-        bool "I2C0"
-    config SCCB_HARDWARE_I2C_PORT1
-        bool "I2C1"
+	menu "Camera configuration"
 
-endchoice
+	config OV2640_SUPPORT
+		bool "OV2640 Support"
+		default y
+		help
+			Enable this option if you want to use the OV2640.
+			Disable this option to save memory.
 
-choice CAMERA_TASK_PINNED_TO_CORE
-    bool "Camera task pinned to core"
-    default CAMERA_CORE0
-    help
-        Pin the camera handle task to a certain core(0/1). It can also be done automatically choosing NO_AFFINITY.
+	config OV7725_SUPPORT
+		bool "OV7725 Support"
+		default n
+		help
+			Enable this option if you want to use the OV7725.
+			Disable this option to save memory.
 
-    config CAMERA_CORE0
-        bool "CORE0"
-    config CAMERA_CORE1
-        bool "CORE1"
-    config CAMERA_NO_AFFINITY
-        bool "NO_AFFINITY"
+	config OV3660_SUPPORT
+	    bool "OV3660 Support"
+	    default y
+	    help
+		Enable this option if you want to use the OV3360.
+		Disable this option to save memory.
+
+	config OV5640_SUPPORT
+	    bool "OV5640 Support"
+	    default y
+	    help
+		Enable this option if you want to use the OV5640.
+		Disable this option to save memory.
 
-endchoice
+	config SCCB_HARDWARE_I2C
+	    bool "Use hardware I2C for SCCB"
+	    default y
+	    help
+		Enable this option if you want to use hardware I2C to control the camera.
+		Disable this option to use software I2C.
+
+	choice SCCB_HARDWARE_I2C_PORT
+	    bool "I2C peripheral to use for SCCB"
+	    depends on SCCB_HARDWARE_I2C
+	    default SCCB_HARDWARE_I2C_PORT1
+
+	    config SCCB_HARDWARE_I2C_PORT0
+		bool "I2C0"
+	    config SCCB_HARDWARE_I2C_PORT1
+		bool "I2C1"
+
+	endchoice
+
+	choice CAMERA_TASK_PINNED_TO_CORE
+	    bool "Camera task pinned to core"
+	    default CAMERA_CORE0
+	    help
+		Pin the camera handle task to a certain core(0/1). It can also be done automatically choosing NO_AFFINITY.
+
+	    config CAMERA_CORE0
+		bool "CORE0"
+	    config CAMERA_CORE1
+		bool "CORE1"
+	    config CAMERA_NO_AFFINITY
+		bool "NO_AFFINITY"
+
+	endchoice
+	menu "Camera Pins"
+		choice CAMERA_MODEL
+		    bool "Select Camera Pinout"
+		    default BOARD_WROVER_KIT
+		    help
+			Select Camera Pinout.
+
+		config BOARD_WROVER_KIT
+
+		    bool "WROVER-KIT OV2640 Module"
+		config BOARD_ESP32CAM_AITHINKER
+
+		    bool "ESP32-CAM by AI-Thinker"
+		endchoice
+	endmenu
     
 endmenu

From 2353ab1060b6070d43847072dd82b6216142547c Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <69308426+DorBenHarush@users.noreply.github.com>
Date: Mon, 24 Aug 2020 09:03:43 +0300
Subject: [PATCH 04/17] Update app.c

---
 apps/take_picture/app.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index 12b208ef..183d7c6f 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -141,12 +141,12 @@ void appMain(void * arg)
 		rclc_executor_spin_some(&executor, 100);
 		usleep(100000);
 		//takes picture
-        	pic = esp_camera_fb_get();
-       		vTaskDelay(5000 / portTICK_RATE_MS);
+        pic = esp_camera_fb_get();
+       	vTaskDelay(5000 / portTICK_RATE_MS);
 	}
 
     // free resources
 	RCCHECK(rcl_publisher_fini(&publisher, &node))
 	RCCHECK(rcl_node_fini(&node))
-        vTaskDelete(NULL);
+    vTaskDelete(NULL);
 }

From b9d4f39f09473292159ca832a7fbf9f16da0d3bc Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <69308426+DorBenHarush@users.noreply.github.com>
Date: Mon, 24 Aug 2020 09:13:59 +0300
Subject: [PATCH 05/17] Update app.c

---
 apps/take_picture/app.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index 183d7c6f..c99d06e5 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -148,5 +148,5 @@ void appMain(void * arg)
     // free resources
 	RCCHECK(rcl_publisher_fini(&publisher, &node))
 	RCCHECK(rcl_node_fini(&node))
-    vTaskDelete(NULL);
+	vTaskDelete(NULL);
 }

From 90bf0d2c608017853a7d0a62ec13e2a277443375 Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <69308426+DorBenHarush@users.noreply.github.com>
Date: Mon, 24 Aug 2020 09:33:20 +0300
Subject: [PATCH 06/17] Update app.c

---
 apps/take_picture/app.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index c99d06e5..9ff39375 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -100,8 +100,8 @@ static esp_err_t init_camera()
 
 void appMain(void * arg)
 {
-    init_camera();
-    rcl_allocator_t allocator = rcl_get_default_allocator();
+	init_camera();
+	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
 
 	// create init_options

From f147960af8f7e12f362ead38717f414c1dee1c7d Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <69308426+DorBenHarush@users.noreply.github.com>
Date: Mon, 24 Aug 2020 10:36:38 +0300
Subject: [PATCH 07/17] Update app.c

---
 apps/take_picture/app.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index 9ff39375..36462026 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -141,8 +141,8 @@ void appMain(void * arg)
 		rclc_executor_spin_some(&executor, 100);
 		usleep(100000);
 		//takes picture
-        pic = esp_camera_fb_get();
-       	vTaskDelay(5000 / portTICK_RATE_MS);
+		pic = esp_camera_fb_get();
+		vTaskDelay(5000 / portTICK_RATE_MS);
 	}
 
     // free resources

From a10820d3589a2b020627699767f38705df0070e3 Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Sat, 19 Sep 2020 13:16:41 +0300
Subject: [PATCH 08/17] Update app-colcon.meta

---
 apps/take_picture/app-colcon.meta | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/apps/take_picture/app-colcon.meta b/apps/take_picture/app-colcon.meta
index 7943f031..0ea8f085 100644
--- a/apps/take_picture/app-colcon.meta
+++ b/apps/take_picture/app-colcon.meta
@@ -7,8 +7,14 @@
                 "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
                 "-DRMW_UXRCE_MAX_SERVICES=0",
                 "-DRMW_UXRCE_MAX_CLIENTS=0",
-                "-DRMW_UXRCE_MAX_HISTORY=1",
+                "-DRMW_UXRCE_MAX_HISTORY=4",
             ]
-        }
-    }
-}
\ No newline at end of file
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+             	"-DUCLIENT_UDP_TRANSPORT_MTU=32768",
+                   
+            ]
+	}
+    } 
+}

From 02846fa94dd7feafb8285df12f3f620aea591edd Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Sat, 19 Sep 2020 13:18:30 +0300
Subject: [PATCH 09/17] Update app.c

---
 apps/take_picture/app.c | 106 ++++++++++++++++++++++++++++------------
 1 file changed, 76 insertions(+), 30 deletions(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index 36462026..4599e702 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -20,39 +20,26 @@
 
 #include <rcl/rcl.h>
 #include <rcl/error_handling.h>
-#include <std_msgs/msg/int32.h>
+#include <sensor_msgs/msg/image.h>
 
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
 
-
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "boards.h"
 
-
-
+#define STRING_CAPACITY 20
 
 static const char *TAG = "example:take_picture";
 
-
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
 
 rcl_publisher_t publisher;
-std_msgs__msg__Int32 msg;
+sensor_msgs__msg__Image* msg;
 camera_fb_t *pic;
 
-void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
-{
-	UNUSED(last_call_time);
-	if (timer != NULL) {
-		RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
-		// use pic->buf to access the image
-		msg.data = pic->len;
-	}
-}
-
 
 static camera_config_t camera_config = {
     .pin_pwdn = CAM_PIN_PWDN,
@@ -78,13 +65,21 @@ static camera_config_t camera_config = {
     .ledc_timer = LEDC_TIMER_0,
     .ledc_channel = LEDC_CHANNEL_0,
 
-    .pixel_format = PIXFORMAT_JPEG, //YUV422,GRAYSCALE,RGB565,JPEG
-    .frame_size = FRAMESIZE_VGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
+    .pixel_format = PIXFORMAT_YUV422, //YUV422,GRAYSCALE,RGB565,JPEG
+    .frame_size = FRAMESIZE_QQVGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
 
     .jpeg_quality = 12, //0-63 lower number means higher quality
     .fb_count = 1       //if more than one, i2s runs in continuous mode. Use only with JPEG
 };
 
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{
+	UNUSED(last_call_time);
+	if (timer != NULL) {
+		
+	}
+}
+
 static esp_err_t init_camera()
 {
     //initialize the camera
@@ -100,23 +95,23 @@ static esp_err_t init_camera()
 
 void appMain(void * arg)
 {
-	init_camera();
-	rcl_allocator_t allocator = rcl_get_default_allocator();
+    init_camera();
+    rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
-
+	msg = sensor_msgs__msg__Image__create();
 	// create init_options
 	RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
 
 	// create node
 	rcl_node_t node = rcl_get_zero_initialized_node();
-	RCCHECK(rclc_node_init_default(&node, "freertos_pictureSize_publisher", "", &support));
+	RCCHECK(rclc_node_init_default(&node, "freertos_picture_publisher", "", &support));
 
 	// create publisher
 	RCCHECK(rclc_publisher_init_default(
 		&publisher,
 		&node,
-		ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
-		"freertos_pictureSize_publisher"));
+		ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, Image),
+		"freertos_picture_publisher"));
 
 	// create timer,
 	rcl_timer_t timer = rcl_get_zero_initialized_timer();
@@ -135,18 +130,69 @@ void appMain(void * arg)
 	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
-	msg.data = 0;
-
+	//takes picture in yuv422 format
+	pic = esp_camera_fb_get();	
+	
+	//set height, width, step and is_bigedian
+	msg->height = pic->height;
+	msg->width = pic->width;
+	msg->is_bigendian = 0;
+	msg->step = pic->width * 2;
+
+	//set pixel format and frame id
+	char * encoding = "yuv422";
+	msg->encoding.data = (char*)heap_caps_malloc(strlen(encoding) + 1, MALLOC_CAP_8BIT); 
+	msg->header.frame_id.capacity = STRING_CAPACITY;
+	memset(msg->encoding.data, 0, strlen(encoding) + 1);
+	memcpy(msg->encoding.data, encoding, strlen(encoding));
+	msg->encoding.size = strlen(encoding) + 1;
+
+	char* frame_id = "AI_thinker_image";
+	msg->header.frame_id.data = (char*)heap_caps_malloc(strlen(frame_id) + 1, MALLOC_CAP_8BIT);
+	msg->header.frame_id.capacity = STRING_CAPACITY;
+	memset(msg->header.frame_id.data, 0, strlen(frame_id) + 1);
+	memcpy(msg->header.frame_id.data, frame_id, strlen(frame_id));
+	msg->header.frame_id.size = strlen(frame_id) + 1;
+
+
+	//allocate memory for data
+	msg->data.data = (uint8_t*)heap_caps_malloc(pic->len, MALLOC_CAP_8BIT);
+	msg->data.capacity = pic->len;
+	msg->data.size = msg->step * pic->height ;
+	printf("copying data...\n");
+	if(msg->data.data == NULL){
+		printf("failed to allocate memory. restating in 5 sec.\n");
+		vTaskDelay(5000 / portTICK_RATE_MS);
+		esp_restart();
+	}	
+	memcpy(msg->data.data, pic->buf, pic->len);
+
+	//msg->header.stamp ?
+
+	printf("height: %d \n", msg->height);
+	printf("width: %d \n", msg->width);
+	printf("pixel format %s \n", msg->encoding.data);
+	printf("is bigendian %d \n", msg->is_bigendian);
+	printf("picture step %d \n", msg->step);
+	printf("frame id %s \n", msg->header.frame_id.data);
+	printf("buffer length %d \n", msg->data.size);
+	printf("pic->len %d \n", pic->len);
+
+	
 	while(1){
-		rclc_executor_spin_some(&executor, 100);
+		rclc_executor_spin_some(&executor, 1000);
 		usleep(100000);
-		//takes picture
-		pic = esp_camera_fb_get();
-		vTaskDelay(5000 / portTICK_RATE_MS);
+		//publish picture
+		printf("publisher return value: %d \n", rcl_publish(&publisher, msg, NULL));
+       	vTaskDelay(1000 / portTICK_RATE_MS);
 	}
 
     // free resources
 	RCCHECK(rcl_publisher_fini(&publisher, &node))
 	RCCHECK(rcl_node_fini(&node))
+	heap_caps_free(msg->encoding.data);
+	heap_caps_free(msg->header.frame_id.data);
+	heap_caps_free(msg->data.data);
+	sensor_msgs__msg__Image__destroy(msg);
 	vTaskDelete(NULL);
 }

From 1dfd87c27b2476c08b18805663d6a0afcf3ba2e7 Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Wed, 30 Sep 2020 04:48:30 +0300
Subject: [PATCH 10/17] Update sdkconfig.defaults

this line : CONFIG_ESP32_SPIRAM_SUPPORT=y create a problem while creating firmware for esp32.
Enable SPIRAM in `menuconfig`:  Component config > ESP32-specific
---
 microros_esp32_extensions/sdkconfig.defaults | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/microros_esp32_extensions/sdkconfig.defaults b/microros_esp32_extensions/sdkconfig.defaults
index 9ef1a8e6..04607862 100644
--- a/microros_esp32_extensions/sdkconfig.defaults
+++ b/microros_esp32_extensions/sdkconfig.defaults
@@ -1,4 +1,4 @@
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
-CONFIG_ESP32_SPIRAM_SUPPORT=y
+

From 7e80a4896b16bee498cd5c09c5b5432b9471ed2a Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Wed, 30 Sep 2020 05:21:32 +0300
Subject: [PATCH 11/17] Update Kconfig.projbuild

---
 microros_esp32_extensions/main/Kconfig.projbuild | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/microros_esp32_extensions/main/Kconfig.projbuild b/microros_esp32_extensions/main/Kconfig.projbuild
index ec373b2c..9bf1f6f0 100644
--- a/microros_esp32_extensions/main/Kconfig.projbuild
+++ b/microros_esp32_extensions/main/Kconfig.projbuild
@@ -122,7 +122,7 @@ endmenu
 	menu "Camera Pins"
 		choice CAMERA_MODEL
 		    bool "Select Camera Pinout"
-		    default BOARD_WROVER_KIT
+		    default BOARD_ESP32CAM_AITHINKER
 		    help
 			Select Camera Pinout.
 

From a34c2350c0db9b311e04098ad119ce08bc3daece Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Wed, 30 Sep 2020 10:03:08 +0300
Subject: [PATCH 12/17] Update sdkconfig.defaults

---
 microros_esp32_extensions/sdkconfig.defaults | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/microros_esp32_extensions/sdkconfig.defaults b/microros_esp32_extensions/sdkconfig.defaults
index 04607862..d75d80c2 100644
--- a/microros_esp32_extensions/sdkconfig.defaults
+++ b/microros_esp32_extensions/sdkconfig.defaults
@@ -1,4 +1,4 @@
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
-
+CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y

From 0c340fc5019ea8550a338605b6df7e1c404e3e47 Mon Sep 17 00:00:00 2001
From: DorBenHarush <dor2981123@gmail.com>
Date: Wed, 28 Oct 2020 22:39:24 +0200
Subject: [PATCH 13/17] compressed image instead of raw

---
 apps/take_picture/app-colcon.meta |  9 +--
 apps/take_picture/app.c           | 99 ++++++++++++++-----------------
 2 files changed, 48 insertions(+), 60 deletions(-)

diff --git a/apps/take_picture/app-colcon.meta b/apps/take_picture/app-colcon.meta
index 0ea8f085..09731019 100644
--- a/apps/take_picture/app-colcon.meta
+++ b/apps/take_picture/app-colcon.meta
@@ -7,14 +7,15 @@
                 "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
                 "-DRMW_UXRCE_MAX_SERVICES=0",
                 "-DRMW_UXRCE_MAX_CLIENTS=0",
-                "-DRMW_UXRCE_MAX_HISTORY=4",
+                "-DRMW_UXRCE_MAX_HISTORY=12"
             ]
         },
         "microxrcedds_client": {
             "cmake-args": [
-             	"-DUCLIENT_UDP_TRANSPORT_MTU=32768",
                    
+                "-DUCLIENT_UDP_TRANSPORT_MTU=4096",
+                  
             ]
-	}
-    } 
+        }
+    }
 }
diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index 4599e702..ea01c81a 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -20,7 +20,8 @@
 
 #include <rcl/rcl.h>
 #include <rcl/error_handling.h>
-#include <sensor_msgs/msg/image.h>
+#include <sensor_msgs/msg/compressed_image.h>
+
 
 #include <rclc/rclc.h>
 #include <rclc/executor.h>
@@ -29,15 +30,16 @@
 #include "freertos/task.h"
 #include "boards.h"
 
-#define STRING_CAPACITY 20
 
 static const char *TAG = "example:take_picture";
 
+
+
 #define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
 #define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
 
 rcl_publisher_t publisher;
-sensor_msgs__msg__Image* msg;
+sensor_msgs__msg__CompressedImage* msg;
 camera_fb_t *pic;
 
 
@@ -65,8 +67,8 @@ static camera_config_t camera_config = {
     .ledc_timer = LEDC_TIMER_0,
     .ledc_channel = LEDC_CHANNEL_0,
 
-    .pixel_format = PIXFORMAT_YUV422, //YUV422,GRAYSCALE,RGB565,JPEG
-    .frame_size = FRAMESIZE_QQVGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
+    .pixel_format = PIXFORMAT_JPEG, //YUV422,GRAYSCALE,RGB565,JPEG
+    .frame_size = FRAMESIZE_HVGA,    //QQVGA-UXGA Do not use sizes above QVGA when not JPEG
 
     .jpeg_quality = 12, //0-63 lower number means higher quality
     .fb_count = 1       //if more than one, i2s runs in continuous mode. Use only with JPEG
@@ -95,10 +97,10 @@ static esp_err_t init_camera()
 
 void appMain(void * arg)
 {
-    init_camera();
-    rcl_allocator_t allocator = rcl_get_default_allocator();
+	init_camera();
+	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
-	msg = sensor_msgs__msg__Image__create();
+	msg = sensor_msgs__msg__CompressedImage__create();
 	// create init_options
 	RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
 
@@ -110,7 +112,7 @@ void appMain(void * arg)
 	RCCHECK(rclc_publisher_init_default(
 		&publisher,
 		&node,
-		ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, Image),
+		ROSIDL_GET_MSG_TYPE_SUPPORT(sensor_msgs, msg, CompressedImage),
 		"freertos_picture_publisher"));
 
 	// create timer,
@@ -130,69 +132,54 @@ void appMain(void * arg)
 	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
-	//takes picture in yuv422 format
-	pic = esp_camera_fb_get();	
-	
-	//set height, width, step and is_bigedian
-	msg->height = pic->height;
-	msg->width = pic->width;
-	msg->is_bigendian = 0;
-	msg->step = pic->width * 2;
-
-	//set pixel format and frame id
-	char * encoding = "yuv422";
-	msg->encoding.data = (char*)heap_caps_malloc(strlen(encoding) + 1, MALLOC_CAP_8BIT); 
-	msg->header.frame_id.capacity = STRING_CAPACITY;
-	memset(msg->encoding.data, 0, strlen(encoding) + 1);
-	memcpy(msg->encoding.data, encoding, strlen(encoding));
-	msg->encoding.size = strlen(encoding) + 1;
+	char * encoding = "jpeg";
+	msg->format.data = (char*)heap_caps_malloc(strlen(encoding) + 1, MALLOC_CAP_8BIT); 
+	msg->format.capacity = strlen(encoding) + 1;
+	memset(msg->format.data, 0, strlen(encoding) + 1);
+	memcpy(msg->format.data, encoding, strlen(encoding));
+	msg->format.size = strlen(encoding) + 1;
 
 	char* frame_id = "AI_thinker_image";
 	msg->header.frame_id.data = (char*)heap_caps_malloc(strlen(frame_id) + 1, MALLOC_CAP_8BIT);
-	msg->header.frame_id.capacity = STRING_CAPACITY;
+	msg->header.frame_id.capacity = strlen(frame_id) + 1;
 	memset(msg->header.frame_id.data, 0, strlen(frame_id) + 1);
 	memcpy(msg->header.frame_id.data, frame_id, strlen(frame_id));
 	msg->header.frame_id.size = strlen(frame_id) + 1;
-
-
-	//allocate memory for data
-	msg->data.data = (uint8_t*)heap_caps_malloc(pic->len, MALLOC_CAP_8BIT);
-	msg->data.capacity = pic->len;
-	msg->data.size = msg->step * pic->height ;
-	printf("copying data...\n");
-	if(msg->data.data == NULL){
-		printf("failed to allocate memory. restating in 5 sec.\n");
-		vTaskDelay(5000 / portTICK_RATE_MS);
-		esp_restart();
-	}	
-	memcpy(msg->data.data, pic->buf, pic->len);
-
-	//msg->header.stamp ?
-
-	printf("height: %d \n", msg->height);
-	printf("width: %d \n", msg->width);
-	printf("pixel format %s \n", msg->encoding.data);
-	printf("is bigendian %d \n", msg->is_bigendian);
-	printf("picture step %d \n", msg->step);
-	printf("frame id %s \n", msg->header.frame_id.data);
-	printf("buffer length %d \n", msg->data.size);
-	printf("pic->len %d \n", pic->len);
-
 	
-	while(1){
+
+	while(1)
+	{
 		rclc_executor_spin_some(&executor, 1000);
 		usleep(100000);
+		pic = esp_camera_fb_get();
+		//allocate memory for data
+        	msg->data.data = (uint8_t*)heap_caps_malloc(pic->len, MALLOC_CAP_8BIT);
+        	msg->data.capacity = pic->len;
+        	msg->data.size = pic->len;
+        	printf("coopying data...\n");
+        	if(msg->data.data == NULL)
+		{
+			printf("failed to allocate memory. restating in 5 sec.\n");
+			vTaskDelay(5000 / portTICK_RATE_MS);
+			esp_restart();
+		}
+		memcpy(msg->data.data, pic->buf, pic->len);
+       
+		printf("pixel format %s \n", msg->format.data);
+		printf("frame id %s \n", msg->header.frame_id.data);
+		printf("buffer length %d \n", msg->data.size);
+
 		//publish picture
 		printf("publisher return value: %d \n", rcl_publish(&publisher, msg, NULL));
-       	vTaskDelay(1000 / portTICK_RATE_MS);
+		vTaskDelay(200 / portTICK_RATE_MS);
 	}
 
-    // free resources
+    	// free resources
 	RCCHECK(rcl_publisher_fini(&publisher, &node))
 	RCCHECK(rcl_node_fini(&node))
-	heap_caps_free(msg->encoding.data);
+	heap_caps_free(msg->format.data);
 	heap_caps_free(msg->header.frame_id.data);
 	heap_caps_free(msg->data.data);
-	sensor_msgs__msg__Image__destroy(msg);
+	sensor_msgs__msg__CompressedImage__destroy(msg);
 	vTaskDelete(NULL);
 }

From 4fa0c53db515d153fecf23ce90db9f15e1340657 Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Thu, 29 Oct 2020 20:14:02 +0200
Subject: [PATCH 14/17] Update app.c

---
 apps/take_picture/app.c | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/apps/take_picture/app.c b/apps/take_picture/app.c
index ea01c81a..48b06d4f 100644
--- a/apps/take_picture/app.c
+++ b/apps/take_picture/app.c
@@ -1,11 +1,8 @@
 /**
- * This example takes a picture every 5s.
-   Example src: https://github.com/espressif/esp32-camera.git 
+ * This example takes a picture every 1s.
+   For more information about esp32-camera - https://github.com/espressif/esp32-camera.git 
  */
 
-
-
-
 // ================================ CODE ======================================
 
 #include <esp_event_loop.h>

From 0013334fcda53c475c46690b0fe479432f570a80 Mon Sep 17 00:00:00 2001
From: DorBenHarush <dor2981123@gmail.com>
Date: Thu, 29 Oct 2020 22:19:54 +0200
Subject: [PATCH 15/17] create new README.md

---
 apps/take_picture/README.md                  | 34 +++++++++++++++++
 apps/take_picture/view_images.py             | 39 ++++++++++++++++++++
 microros_esp32_extensions/sdkconfig.defaults |  2 +-
 3 files changed, 74 insertions(+), 1 deletion(-)
 create mode 100644 apps/take_picture/README.md
 create mode 100755 apps/take_picture/view_images.py

diff --git a/apps/take_picture/README.md b/apps/take_picture/README.md
new file mode 100644
index 00000000..e4211dbb
--- /dev/null
+++ b/apps/take_picture/README.md
@@ -0,0 +1,34 @@
+* Step 1: create and configure
+
+  The `create_firmware_ws.sh` is the same as esp32.                                                                                                                   
+  After the `create_firmware` step you need to add the esp32-camera repository to the esp-idf components directory with the following commands. 
+ ```
+ pushd microros_ws/firmware/toolchain/esp-idf/components
+ 
+ git clone https://github.com/espressif/esp32-camera.git
+ 
+ popd
+ ```
+  The configuration step is also the same as esp32.
+* Step 2: menuconfig 
+```
+ Serial flasher config > Flash size (set to 4M) 
+ 
+ Component config > ESP32-specific > Support for external, SPI-connected RAM` (set to true)
+ 
+ Component config > Driver configurations > RTCIO configuration (set to TRUE)
+ 
+ Camera configuration > Camera pins. (BOARD_ESP32CAM_AITHINKER is default)
+ ```
+ Another way to enable the above is with the `sdkconfig.defaults` file by adding these lines:
+ ```
+ CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
+ CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y
+ CONFIG_ESP32_SPIRAM_SUPPORT=y
+ **PICK ONE OPTION**
+ CONFIG_BOARD_ESP32CAM_AITHINKER=y **OR**  CONFIG_BOARD_WROVER_KIT=y
+ ```
+* Step 3 : build, flash and run a micro-ros-agent
+
+
+* Step 4 : Run `view_image.py` 
diff --git a/apps/take_picture/view_images.py b/apps/take_picture/view_images.py
new file mode 100755
index 00000000..3a672dad
--- /dev/null
+++ b/apps/take_picture/view_images.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+from cv_bridge import CvBridge, CvBridgeError
+from sensor_msgs.msg import CompressedImage
+import cv2
+import numpy as np
+
+
+
+
+class MinimalSubscriber(Node):
+
+    def __init__(self, ):
+        super().__init__('minimal_subscriber')
+        self.subscription = self.create_subscription(CompressedImage, 'freertos_picture_publisher', self.listener_callback, 10)
+        self.subscription  # prevent unused variable warning 
+        self.bridge = CvBridge()
+    def listener_callback(self, image_message):
+        self.get_logger().info('recieved an image')
+        
+    	#recieve image and co nvert to cv2 image
+        cv2.imshow('esp32_image', self.cv_image)
+        cv2.waitKey(3)
+
+        
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_subscriber = MinimalSubscriber()
+    
+    rclpy.spin(minimal_subscriber)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+   main()
diff --git a/microros_esp32_extensions/sdkconfig.defaults b/microros_esp32_extensions/sdkconfig.defaults
index d75d80c2..04607862 100644
--- a/microros_esp32_extensions/sdkconfig.defaults
+++ b/microros_esp32_extensions/sdkconfig.defaults
@@ -1,4 +1,4 @@
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=3000
 CONFIG_FREERTOS_UNICORE=y
 CONFIG_ESP_TASK_WDT=n
-CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC=y
+

From 29b858ca9cb8a050aaa861650f24bc32f866c38f Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Thu, 29 Oct 2020 22:29:10 +0200
Subject: [PATCH 16/17] Update README.md

---
 apps/take_picture/README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/apps/take_picture/README.md b/apps/take_picture/README.md
index e4211dbb..2593f26a 100644
--- a/apps/take_picture/README.md
+++ b/apps/take_picture/README.md
@@ -1,3 +1,5 @@
+# esp32-camera configuration
+
 * Step 1: create and configure
 
   The `create_firmware_ws.sh` is the same as esp32.                                                                                                                   

From 73c7f07b2f7770c841657ab97cd2961428845265 Mon Sep 17 00:00:00 2001
From: Dor Ben Harush <dor2981123@gmail.com>
Date: Thu, 29 Oct 2020 23:13:20 +0200
Subject: [PATCH 17/17] Update view_images.py

---
 apps/take_picture/view_images.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/apps/take_picture/view_images.py b/apps/take_picture/view_images.py
index 3a672dad..96787188 100755
--- a/apps/take_picture/view_images.py
+++ b/apps/take_picture/view_images.py
@@ -19,7 +19,7 @@ def __init__(self, ):
         self.bridge = CvBridge()
     def listener_callback(self, image_message):
         self.get_logger().info('recieved an image')
-        
+        self.cv_image = self.bridge.compressed_imgmsg_to_cv2(image_message,'8UC3')        
     	#recieve image and co nvert to cv2 image
         cv2.imshow('esp32_image', self.cv_image)
         cv2.waitKey(3)