fix a bug after all the renaming. Add more readme

Author: IrvingF7

README.md

@@ -52,7 +52,14 @@ ros2 launch realsense_capture realsense_sys_launch.py
 
 ***Note***: The launch file also launches Foxglove, a visualization/monitoring app for ROS2. Get rid of related lines if desired. 
 
-There is no need to launch the RealSense ROS wrapper separately, as they are integrated in the launch file.
+There is no need to launch the RealSense ROS wrapper separately, as they are integrated into the launch file.
+
+### Parameters
+There are many parameters you can tune that come with RealSense, but some of the most important ones are:
+
+1. `camera_namespace` and `camera_name`: the topic name of your camera in ROS2 will be in the form of `camera_namespace/camera_name/xxx
+
+2. `save_folder`: indicates where to save the `.png` of the depth and color images.
 
 
 ## Contributing

realsense_capture/LICENSE

@@ -28,6 +28,7 @@
 
 configurable_parameters = [{'name': 'camera_namespace',             'default': 'xArm6', 'description': 'namespace for camera'},
                            {'name': 'camera_name',                  'default': 'D405', 'description': 'camera unique name'},
+                           {'name': 'save_folder',                  'default': '/home/zf540/Desktop/save_folder/image', 'description': 'folder to save images'},
                            {'name': 'serial_no',                    'default': "''", 'description': 'choose device by serial number'},
                            {'name': 'usb_port_id',                  'default': "''", 'description': 'choose device by usb port id'},
                            {'name': 'device_type',                  'default': "''", 'description': 'choose device by type'},
@@ -88,7 +89,7 @@
                            {'name': 'hdr_merge.enable',             'default': 'false', 'description': 'hdr_merge filter enablement flag'},
                            {'name': 'wait_for_device_timeout',      'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
                            {'name': 'reconnect_timeout',            'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
-                           {'name': 'save_folder',                   'default': '/home/irving/Desktop', 'description': 'folder to save images'},
+                           
                           ]
 
 def declare_configurable_parameters(parameters):
@@ -149,7 +150,7 @@ def generate_launch_description():
 
     image_server_launch = Node(
         package='realsense_capture',
-        executable='image_server',
+        executable='realsense_image_server',
         name='image_server',
         parameters=[{'camera_namespace': launch_params['camera_namespace'], 
                      'camera_name': launch_params['camera_name']
@@ -158,7 +159,7 @@ def generate_launch_description():
 
     image_client_launch = Node(
         package='realsense_capture',
-        executable='image_client',
+        executable='realsense_image_client',
         name='image_client',
         parameters=[{'save_folder': launch_params['save_folder'],
                      }]

realsense_capture/launch/realsense_sys_launch.py

@@ -73,9 +73,10 @@ def postprocess(self, img, modality):
         modality: str
         Use cv_bridge to convert ROS image to OpenCV image and save it to disk
         '''
+        # this is in RGB
         encoded_img = self.cvbridge.imgmsg_to_cv2(img_msg=img, 
                                                   desired_encoding='passthrough')
-        cv2.imwrite(os.path.join(self.save_folder, f'{modality}_{img.header.stamp.sec}.png'), encoded_img)
+        cv2.imwrite(os.path.join(self.save_folder, f'{modality}_{img.header.stamp.sec}.png'), cv2.cvtColor(encoded_img, cv2.COLOR_RGB2BGR))
 
         # color the log message
         color_start = '\033[94m'