Subscribe and show costmap images.

am_i_up/Api.py

@@ -28,6 +28,7 @@ class Api:
             web.get('/api/build_info', self.build_info),
             web.get('/api/env', self.env),
             web.get('/api/status', self.status),
+            web.get('/api/costmap_image', self.costmap_image),
             web.static("/assets", ui_static_directory),
             # we're not actually using key anywhere, but doing this allows react router
             # to work correctly.
@@ -67,8 +68,11 @@ class Api:
         if not project_state:
             resp = {"status": False, "message": "project_state not found."}
             return web.json_response(resp)
-        project_state["status"] = True
-        return web.json_response(project_state)
+        resp = {
+            "status": True,
+            "message": project_state
+        }
+        return web.json_response(resp)
 
     async def env(self, request):
         env = self._facts.get_env()
@@ -80,3 +84,10 @@ class Api:
             status = "Nothing received!"
         resp = {"message": status}
         return web.json_response(resp)
+
+    async def costmap_image(self, request):
+        (image_format, image_data) = self._facts.get_costmap_image()
+        if (not image_format) or (not image_data):
+            raise web.HTTPUnsupportedMediaType()
+        resp = web.Response(body=image_data, content_type='image/{}'.format(image_format))
+        return resp

am_i_up/Facts.py

@@ -19,6 +19,15 @@ class Facts:
     def __init__(self):
         self._start_time = time.monotonic()
         self._status_string = None
+        self._costmap_image_format = None
+        self._costmap_image_data = None
+
+    def set_costmap_image(self, image_format, image_data):
+        self._costmap_image_format = image_format
+        self._costmap_image_data = image_data
+
+    def get_costmap_image(self):
+        return (self._costmap_image_format, self._costmap_image_data)
 
     def set_status_string(self, status):
         self._status_string = status

am_i_up/Ros.py

@@ -10,6 +10,7 @@
 #
 import rclpy
 from std_msgs.msg import String
+from sensor_msgs.msg import CompressedImage
 import asyncio
 
 class Ros:
@@ -19,10 +20,17 @@ class Ros:
         self._node = rclpy.create_node('am_i_up')
 
         self._node.create_subscription(String, "status", self.status_sub, 1)
+        self._node.create_subscription(CompressedImage, "image/compressed", self.image_sub, 1)
 
     def status_sub(self, msg):
         self._facts.set_status_string(msg.data)
 
+    def image_sub(self, msg):
+        if msg.format != "jpg" and msg.format != "png":
+            # I don't know what to do with this image....
+            return
+        self._facts.set_costmap_image(msg.format, bytes(msg.data))
+
     async def run(self):
         while rclpy.ok():
             rclpy.spin_once(self._node, timeout_sec=0)

am_i_up/server.py

@@ -16,8 +16,8 @@ import asyncio
 
 def main():
     facts = Facts()
-    api = Api(facts)
     ros = Ros(facts)
+    api = Api(facts)
 
     future = asyncio.gather(api.run(), ros.run())
     asyncio.get_event_loop().run_until_complete(future)

launch/am_i_up.launch.xml

@@ -1,3 +1,4 @@
 <launch>
   <node pkg="am_i_up" exec="server" name="am_i_up"/>
+  <node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
 </launch>