Hi,

I have a project where this node subscribe to two topics. an image camera topic and a topic that gives input

what i want to do is if the topic input is a '1' than it will not subscribe to the camera, if its a '2', it will subscribe to the camera and take a picture. However, it seems that after i click on '2' and than back to '1', my camera will continue to take pictures.

code:

#!/usr/bin/env python
from __future__ import print_function
import roslib
import sys
import rospy
import cv2
from std_msgs.msg import String, Int32
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import os
import numpy as np
import argparse
import time

def test(data):

    bridge = CvBridge()
    try:
      cv_image = bridge.imgmsg_to_cv2(data, "bgr8")
    except CvBridgeError as e:
      print(e)
    pub = rospy.Publisher('depthoutput2',String,queue_size=10)

    #cv_image = cv2.imread ('toilet_image_1.jpg')
    image = cv_image
    image = cv2.resize(image, (300,300),fx=0,fy=0, interpolation = cv2.INTER_CUBIC)
    cv2.imwrite('image_photo_taken.jpg', image)
    image = cv2.imread('image_photo_taken.jpg')


    cv2.imshow("Image window",image)
    cv2.waitKey(1)

def callback1 (data):  
  movement = data.data()

  if movement ==1 :

    print ('stop')
  elif movement ==2 : 

    print('take picture')
    image_sub = rospy.Subscriber("/camera/rgb/image_raw",Image,test)
  else:
    print ('error')

def main():
  rospy.init_node ('yolo',anonymous = True)
  rospy.Subscriber('depthoutput', Int32, callback1)

  try:
    rospy.spin()
  except KeyboardInterrupt:
    print("Shutting down")

  cv2.destroyAllWindows()

if __name__ == '__main__':
    main()