Add proper image annotations for post sync node

src/perception/camera_object_detection/camera_object_detection/post_synchronizer.py

@@ -13,12 +13,13 @@
 class CameraSyncNode(Node): # synchronizes visualizations
     def __init__(self):
         super().__init__('camera_sync_node')
+        self.get_logger().info("Camera Sync Node")
 
         self.camera_img_sub = Subscriber(self, Image , '/camera/right/image_color')
 
-        self.camera1_sub = Subscriber(self, Detection2DArray, '/camera/left/camera_detections')
-        self.camera2_sub = Subscriber(self, Detection2DArray, '/camera/center/camera_detections')
-        self.camera3_sub = Subscriber(self, Detection2DArray, '/camera/right/camera_detections')
+        self.camera1_sub = Subscriber(self, Detection2DArray, '/camera/right/camera_detections')
+        self.camera2_sub = Subscriber(self, Detection2DArray, '/traffic_signs')
+        self.camera3_sub = Subscriber(self, Detection2DArray, '/traffic_lights')
 
         self.ts = ApproximateTimeSynchronizer(
             [self.camera_img_sub, self.camera1_sub, self.camera2_sub, self.camera3_sub],
@@ -28,7 +29,7 @@ def __init__(self):
         self.ts.registerCallback(self.callback)
 
         self.combined_detection_publisher = self.create_publisher(Detection2DArray, '/combined_detections', 10)
-        self.vis_publisher = self.create_publisher(Image, '/annotated_img')
+        self.vis_publisher = self.create_publisher(Image, '/annotated_img', 10)
 
     def process_img(self, image):
         try:

src/perception/camera_object_detection/config/post_synchronizer_config.yaml

@@ -0,0 +1,4 @@
+post_synchronizer_node:
+  ros__parameters:
+    camera_topic: /camera/right/image_color
+    publish_vis_topic: /annotated_img

src/perception/camera_object_detection/launch/eve.launch.py

@@ -47,11 +47,18 @@ def generate_launch_description():
         condition=LaunchConfigurationEquals("launch_traffic_signs", "True"),
     )
 
+    post_synchronizer_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [camera_object_detection_launch_include_dir, "/post_synchronizer.launch.py"]
+        )
+    )
+
     return LaunchDescription(
         launch_args
         + [
             pretrained_yolov8_launch,
             traffic_light_launch,
             traffic_signs_launch,
+            post_synchronizer_launch,
         ]
     )

src/perception/camera_object_detection/launch/include/post_synchronizer.launch.py

@@ -0,0 +1,21 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+
+def generate_launch_description():
+    config = os.path.join(
+        get_package_share_directory('camera_object_detection'),
+        'config',
+        'post_synchronizer_config.yaml'
+    )
+
+    camera_object_detection_node = Node(
+        package='camera_object_detection',
+        executable='camera_sync_node',
+        name='post_synchronizer_node',
+        parameters=[config]
+    )
+
+    return LaunchDescription([camera_object_detection_node])

src/perception/camera_object_detection/setup.py

@@ -25,7 +25,8 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'camera_object_detection_node = camera_object_detection.yolov8_detection:main'
+            'camera_object_detection_node = camera_object_detection.yolov8_detection:main',
+            'camera_sync_node = camera_object_detection.post_synchronizer:main'
         ],
     },
 )