Instructions:

Building the package:

-> Clone the repo into src/ of your workspace.

   cd ~/<your_ros2_ws>/src
   git clone https://github.com/Sherlock-21/video_conv.git

-> Build the package

   cd ~/<your_ros2_ws> 
   colcon build

-> Source the workspace

   source ~/<your_ros2_ws>/install/setup.bash

How to use the launch file:

-> Run the launch file in the video_conv package

   ros2 launch video_conv video_conv_launch.py

-> input_topic and output_topic can be modified by the user:

   ros2 launch video_conv video_conv_launch.py input_topic:=/camera/image_raw output_topic:=/converted_image

(default input_topic:=/camera/image_raw output_topic:=/converted_image)

How to call the service to change the mode:

-> Open a new terminal

Switch to Grayscale Mode:

  ros2 service call /toggle_mode std_srvs/srv/SetBool "{data: true}"

Switch to Colour Mode:

   ros2 service call /toggle_mode std_srvs/srv/SetBool "{data: false}"

How to visualize the output topic:

ros2 run rqt_image_view rqt_image_view

-> select /converted_image in the drop down to view the output topic.