process_image_node.hpp

#pragma once
 
#include "image_utils.hpp"
 
#include <custom_interfaces/srv/drive_to_target.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
 
namespace robot_control::ball_chaser {

class ProcessImage : public rclcpp::Node {
  public:
    ProcessImage();
 
  private:
    struct VelocityParams {
        double linear;  
        double angular; 
    };

    void imageCallback(sensor_msgs::msg::Image::SharedPtr msg);

    void processRgb8(const sensor_msgs::msg::Image::SharedPtr &msg);

    void driveRobot(const VelocityParams &velocity);
 
    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr m_imageSub;
    rclcpp::Client<custom_interfaces::srv::DriveToTarget>::SharedPtr m_driveClient;
 
    VelocityParams m_velocity;
    RgbThreshold m_whiteBallThreshold;
 
    bool m_wasMoving;
};
 
} // namespace robot_control::ball_chaser