images not capturing - Githubissues

After running the code below, the images are not being captured on our husky. Can we get some guidance on where the problem might be to fix this issue?
    #!/usr/bin/env python3

    import rospy
    from geometry_msgs.msg import Twist
    from sensor_msgs.msg import Image
    from cv_bridge import CvBridge
    import cv2
    import os
    import math
    import numpy as np
    import tf
    from tf.transformations import euler_from_quaternion
    from PIL import Image as PILImage
    from PIL.ExifTags import TAGS

    class HuskyCircleSimulator:
        def __init__(self):
            rospy.init_node('husky_circle_simulator')
            self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
            self.image_sub = rospy.Subscriber('/realsense/camera/image_raw', Image, self.image_callback)
            self.bridge = CvBridge()
            self.image_count = 0
            self.image_folder = os.path.join('/home/student/Pictures/images')

            self.tf_listener = tf.TransformListener()

            if not os.path.exists(self.image_folder):
                os.makedirs(self.image_folder)

            self.start_x = 0.0  # Adjust to the desired starting x-coordinate
            self.start_y = 0.0  # Adjust to the desired starting y-coordinate

        def image_callback(self, data):
            cv_image = self.bridge.imgmsg_to_cv2(data, 'bgr8')
            image_path= os.path.join(self.image_folder, 'husky_image_{}.jpg'.format(self.image_count))
            cv2.imwrite(image_path, cv_image)
            self.add_exif_data(image_path)
            self.image_count += 1
            rospy.loginfo("Image captured and saved")  # Log statement to check if the callback is called

        def add_exif_data(self,image_folder):
            image = PILImage.open(image_folder)
            exif_data = image.info.get('exif', {})
            exif_data['Software'] = 'Husky Circle Simulator'
            image.save(image_folder, exif=image.info['exif'])

        def calculate_angular_velocity(self, linear_velocity, radius):
            if radius == 0:
                return 0
            else:
                return linear_velocity / radius

        def move_husky(self):
            rate = rospy.Rate(10)  # Increase the rate to 10Hz for better control
            twist = Twist()

            # After reaching the starting location, initiate circular motion
            twist.linear.x = 0.5  # Increase linear velocity for larger radius circular motion
            radius = 2.0  # Adjust the desired radius of the circular trajectory
            twist.angular.z = self.calculate_angular_velocity(twist.linear.x, radius)

            images_taken = 0

            while not rospy.is_shutdown():
                # Check if the number of images taken has reached the limit
                if images_taken == 25:
                    rospy.loginfo("Reached the limit of 25 images. Stopping.")
                    break

                self.cmd_vel_pub.publish(twist)
                rate.sleep()

                # Increment the image count every time the robot completes a full rotation
                if abs(twist.angular.z) > 0.5:  # Assuming the rotation is significant, meaning the robot has completed a rotation
                    images_taken += 1
                    rospy.loginfo("Took image {}. Total images taken: {}.".format(images_taken, images_taken))

            # Stop the robot
            twist.linear.x = 0
            twist.angular.z = 0
            self.cmd_vel_pub.publish(twist)

    if __name__ == '__main__':
        try:
            husky_simulator = HuskyCircleSimulator()
            husky_simulator.move_husky()
        except rospy.ROSInterruptException:
            pass
IE-482-582 / spring2024

images not capturing #55
