decreased the count of copying image.

added command to face_tracker_node.

op3_demo/include/op3_demo/face_tracker.h

@@ -24,6 +24,7 @@
 
 #include <ros/ros.h>
 #include <ros/package.h>
+#include <std_msgs/Bool.h>
 #include <std_msgs/String.h>
 #include <std_msgs/Int32.h>
 #include <sensor_msgs/JointState.h>

op3_demo/include/op3_demo/vision_demo.h

@@ -64,7 +64,8 @@ class VisionDemo : public OPDemo
 
   ros::Publisher module_control_pub_;
   ros::Publisher motion_index_pub_;
-  ros::Publisher rgb_led_pub_;
+  ros::Publisher rgb_led_pub_;  
+  ros::Publisher face_tracking_command_pub_;
 
   ros::Subscriber buttuon_sub_;
   ros::Subscriber faceCoord_sub_;

op3_demo/launch/face_detection_op3.launch

@@ -17,5 +17,6 @@
         <param name="displayed_Image" type="int" value="0" />
         <!-- <param name="publish" type="int" value="2" /> -->
         <param name="publish" type="int" value="3" />
+		<param name="start_condition" type="bool" value="false" />
   </node>
 </launch>

op3_demo/src/test_node.cpp

@@ -193,6 +193,10 @@ int main(int argc, char **argv)
 
     //relax to fit output rate
     loop_rate.sleep();
+
+    // for debug
+    if (checkManagerRunning(manager_name) == false)
+      return 0;
   }
 
   //exit program

op3_demo/src/vision/face_tracker.cpp

@@ -34,8 +34,7 @@ FaceTracker::FaceTracker()
   head_scan_pub_ = nh_.advertise<std_msgs::String>("/robotis/head_control/scan_command", 0);
 
   face_position_sub_ = nh_.subscribe("/face_position", 1, &FaceTracker::facePositionCallback, this);
-  face_tracking_command_sub_ = nh_.subscribe("/face_tracker/command", 1, &FaceTracker::faceTrackerCommandCallback,
-                                             this);
+  //face_tracking_command_sub_ = nh_.subscribe("/robotis/demo_command", 1, &FaceTracker::faceTrackerCommandCallback, this);
 }
 
 FaceTracker::~FaceTracker()
@@ -73,12 +72,14 @@ void FaceTracker::faceTrackerCommandCallback(const std_msgs::String::ConstPtr &m
 void FaceTracker::startTracking()
 {
   on_tracking_ = true;
+
   ROS_INFO("Start Face tracking");
 }
 
 void FaceTracker::stopTracking()
 {
   on_tracking_ = false;
+
   ROS_INFO("Stop Face tracking");
 }
 

op3_demo/src/vision/vision_demo.cpp

@@ -55,6 +55,11 @@ void VisionDemo::setDemoEnable()
   usleep(20 * 1000);
 
   enable_ = true;
+
+  std_msgs::Bool command;
+  command.data = enable_;
+  face_tracking_command_pub_.publish(command);
+
   face_tracker_.startTracking();
 
   ROS_INFO("Start Vision Demo");
@@ -68,6 +73,10 @@ void VisionDemo::setDemoDisable()
   is_tracking_ = false;
   tracking_status_ = FaceTracker::Waiting;
   enable_ = false;
+
+  std_msgs::Bool command;
+  command.data = enable_;
+  face_tracking_command_pub_.publish(command);
 }
 
 void VisionDemo::process()
@@ -95,7 +104,7 @@ void VisionDemo::process()
     tracking_status_ = tracking_status;
 
   //is_tracking_ = is_tracked;
-  std::cout << "Tracking : " << tracking_status << std::endl;
+  //std::cout << "Tracking : " << tracking_status << std::endl;
 }
 
 void VisionDemo::processThread()
@@ -122,6 +131,7 @@ void VisionDemo::callbackThread()
   module_control_pub_ = nh.advertise<std_msgs::String>("/robotis/enable_ctrl_module", 0);
   motion_index_pub_ = nh.advertise<std_msgs::Int32>("/robotis/action/page_num", 0);
   rgb_led_pub_ = nh.advertise<robotis_controller_msgs::SyncWriteItem>("/robotis/sync_write_item", 0);
+  face_tracking_command_pub_ = nh.advertise<std_msgs::Bool>("/face_tracking/command", 0);
 
   buttuon_sub_ = nh.subscribe("/robotis/open_cr/button", 1, &VisionDemo::buttonHandlerCallback, this);
   faceCoord_sub_ = nh.subscribe("/faceCoord", 1, &VisionDemo::facePositionCallback, this);