From d91bc5aba55c3a50756d1070533838df67807f1d Mon Sep 17 00:00:00 2001
From: Gustavo David Cordova Cardenas
 <99350669+GustavoDCC@users.noreply.github.com>
Date: Sun, 5 May 2024 10:18:36 +0200
Subject: [PATCH] (color_extractor) Create a node listener and call service
 (#228)

* Create a node listener and call service

* Edit node name

* Make class for service client

* Add executable script

* Add service argument and start subscriber after client

* Add rospy argument filter
---
 .../CMakeLists.txt                            |  1 +
 .../scripts/get_colors_stream                 | 35 +++++++++++++++++++
 2 files changed, 36 insertions(+)
 create mode 100755 image_recognition_color_extractor/scripts/get_colors_stream

diff --git a/image_recognition_color_extractor/CMakeLists.txt b/image_recognition_color_extractor/CMakeLists.txt
index 4c767b9e..1f2ecc93 100644
--- a/image_recognition_color_extractor/CMakeLists.txt
+++ b/image_recognition_color_extractor/CMakeLists.txt
@@ -10,6 +10,7 @@ catkin_package()
 install(PROGRAMS
   scripts/color_extractor_node
   scripts/get_colors
+  scripts/get_colors_stream
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/image_recognition_color_extractor/scripts/get_colors_stream b/image_recognition_color_extractor/scripts/get_colors_stream
new file mode 100755
index 00000000..2572bb6b
--- /dev/null
+++ b/image_recognition_color_extractor/scripts/get_colors_stream
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+import argparse
+
+import rospy
+
+from sensor_msgs.msg import Image
+
+from image_recognition_msgs.srv import Recognize
+
+class ExtractColorClient:
+    def __init__(self, image_topic, color_service):
+        self.color_proxy = rospy.ServiceProxy(color_service, Recognize)
+        self.color_proxy.wait_for_service(timeout=20)
+
+        # Subscriber will start immediately
+        self.image_sub = rospy.Subscriber(image_topic, Image, self.color_callback)
+
+    def color_callback(self, msg):
+        # Simply print out values in our custom message.
+        colors = self.color_proxy(msg)
+        rospy.loginfo(colors)
+
+if __name__ == '__main__':
+
+    myargs = rospy.myargv()
+    parser = argparse.ArgumentParser(description='Get dominant colors from image')
+    parser.add_argument('--topic', required=False, default='/image', type=str, help='Topic')
+    parser.add_argument('--service', required=False, default='extract_color', type=str, help='Service')
+    args = parser.parse_args(myargs[1:])
+
+    rospy.init_node('color_extractor_stream')
+
+    extract_color_client = ExtractColorClient(args.topic, args.service)
+
+    rospy.spin()