works on humble

launch/base_gesture_control.launch.py

@@ -34,11 +34,33 @@ def generate_launch_description():
             parameters=[
                 {"fire_ext_max_capacity": 100},
             ],
+            remappings=[
+                ('image', '/camera_node/image_raw')
+            ]
     )
 
+    camera_node = Node(
+        package='camera_ros',
+        executable='camera_node',
+        name='camera_node',
+        #namespace='camera',
+        output='screen',
+        parameters=[{
+            # Camera selection index (0 for the first detected libcamera device)
+            'camera': 0,
+            # Image streams configuration
+            'width': 640,
+            'height': 480,
+            'frame_rate': 10.0,
+            # Available options depend on your camera (e.g., 'sensor', 'video', 'still')
+            'role': 'video',
+            }]
+        )
+
     return LaunchDescription(
         launch_args
         + [
             base_gesture_control_node,
+            camera_node
         ]
     )

unity_robot_controller/base_gesture_control_node.py

@@ -9,10 +9,10 @@ import cv2
 import numpy as np
 from sensor_msgs.msg import Image
 
-from skeleton.mediapipe_detector import MediaPipeDetector
-from gesture_control.special_gestures import SpecialGestureDetector
-from gesture_control.arm_control import ArmController
-from ml_gestures_dynamic.predict import DynamicGesturePredictor
+from unity_robot_controller.gesture_rec.skeleton.mediapipe_detector import MediaPipeDetector
+from unity_robot_controller.gesture_rec.gesture_control.special_gestures import SpecialGestureDetector
+from unity_robot_controller.gesture_rec.gesture_control.arm_control import ArmController
+#from unity_robot_controller.gesture_rec.ml_gestures_dynamic.predict import DynamicGesturePredictor
 
 class BaseGestureControlNode(Node):
 
@@ -25,9 +25,6 @@ class BaseGestureControlNode(Node):
 
         self.bridge = CvBridge()
         self.cv_image = None
-
-        # subscriptions
-        self.create_subscription(Image, 'image', self.image_cb, 10)
         
         #ros params?
         ARM_CONTROL = {
@@ -41,9 +38,9 @@ class BaseGestureControlNode(Node):
         
         SPECIAL_GESTURE_MODE = 'geometric' # 'ml' или 'geometric'
         ML_GESTURE_MODEL = "path/to/special_gestures_rf.pkl"
-        ML_GESTURE_CLASSES ['dome', 'cross', 'none']
+        ML_GESTURE_CLASSES = ['dome', 'cross', 'none']
         
-        DG_ENABLED = True
+        DG_ENABLED = False
         DG_MODEL_PATH = "path/to/dynamic_model.h5"
         DG_CLASSES_PATH = "path/to/dynamic_model_classes.pkl"
         DG_WINDOW_SIZE = 14
@@ -80,9 +77,13 @@ class BaseGestureControlNode(Node):
         self.image_pub = self.create_publisher(Image, 'skeleton_image', 10)
 
 
+        # subscriptions
+        self.create_subscription(Image, 'image', self.image_cb, 10)
+
+
     def image_cb(self, msg):
         try:
-            self.cv_image = self.bridge.imgmsg_to_cv2(raw_msg, desired_encoding='bgr8')
+            self.cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
         except Exception as e:
             self.get_logger().error(f"Failed to convert image: {e}")
             self.cv_image = None
@@ -123,7 +124,7 @@ class BaseGestureControlNode(Node):
                         # Команда тушения
                         if self.enabled:
                             if special == 'dome' and not self.dome_processed:
-                                self.URC.send_fire_ext_burst_cmd():
+                                self.URC.send_fire_ext_burst_cmd()
                                 self.dome_processed = True
                             elif special != 'dome':
                                 self.dome_processed = False