From d965446abfa310e04dbac530a17ee3d5bbca14f2 Mon Sep 17 00:00:00 2001
From: RonaldsonBellande <ronaldsonbellande@gmail.com>
Date: Sat, 29 Jun 2024 23:35:31 -0400
Subject: [PATCH] cv

---
 ...de_3d_computer_vision_prediction.launch.py | 74 +++++++++++++++++--
 .../script/build.sh                           | 22 ------
 2 files changed, 68 insertions(+), 28 deletions(-)
 delete mode 100644 ros_web_api_bellande_3d_computer_vision/script/build.sh

diff --git a/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py b/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py
index 765428c..922711f 100644
--- a/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py
+++ b/ros_web_api_bellande_3d_computer_vision/launch/bellande_3d_computer_vision_prediction.launch.py
@@ -1,25 +1,87 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
 import os
 import sys
 import subprocess
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
+from launch.substitutions import FindExecutable
 
 
 def ros1_launch_description():
     # Get command-line arguments
     args = sys.argv[1:]
-
-    # Construct the ROS 1 launch commandi
+    
+    # Construct the ROS 1 launch command
     roslaunch_command = ["roslaunch", "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.launch"] + args
-
+    
+    # Add the pointcloud publisher node
+    roslaunch_command.extend([
+        "ros_web_api_bellande_3d_computer_vision", "pointcloud_pradiction_node", "name:=pointcloud_publisher",
+        "frame_id:=base_link"
+    ])
+    
+    # Add the prediction node
+    roslaunch_command.extend([
+        "ros_web_api_bellande_3d_computer_vision", "bellande_3d_computer_vision_prediction.py", "name:=pointcloud_prediction_node"
+    ])
+    
+    # Add the rviz node
+    roslaunch_command.extend([
+        "rviz", "rviz", "name:=rviz",
+        "args:=-d $(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz"
+    ])
+    
     # Execute the launch command
     subprocess.call(roslaunch_command)
 
 
 def ros2_launch_description():
-    pass
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+    
+    # Add the pointcloud publisher node
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_3d_computer_vision',
+        executable='pointcloud_pradiction_node',
+        name='pointcloud_publisher',
+        output='screen',
+        parameters=[{'frame_id': 'base_link'}]
+    ))
+    
+    # Add the prediction node
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_3d_computer_vision',
+        executable='bellande_3d_computer_vision_prediction.py',
+        name='pointcloud_prediction_node',
+        output='screen',
+        remappings=[('input_pointcloud', '/pointcloud_topic')]
+    ))
+    
+    # Add the rviz node
+    nodes_to_launch.append(Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz',
+        arguments=['-d', '$(find ros_web_api_bellande_3d_computer_vision)/rviz/pointcloud_visualization.rviz']
+    ))
+    
+    # Return the LaunchDescription containing all nodes
+    return LaunchDescription(nodes_to_launch)
+
 
 if __name__ == "__main__":
     ros_version = os.getenv("ROS_VERSION")
diff --git a/ros_web_api_bellande_3d_computer_vision/script/build.sh b/ros_web_api_bellande_3d_computer_vision/script/build.sh
deleted file mode 100644
index 199fe0e..0000000
--- a/ros_web_api_bellande_3d_computer_vision/script/build.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/bin/bash
-
-# Create and navigate to build directory
-mkdir -p build && cd build
-
-# Build package
-if [ $ROS_VERSION -eq 1 ]; then
-    cmake -DROS_VERSION=1 ..
-    make -j$(nproc)
-else
-    cmake -DROS_VERSION=2 ..
-    make -j$(nproc)
-fi
-
-# Source package setup file
-source devel/setup.bash
-
-# Run rosdep
-rosdep install --from-paths ../src --ignore-src -y
-
-# Return to package root directory
-cd ..