Rock paper scissors first commit

.gitignore

+iri_rock_paper_scissor/cmake-build-debug
+iri_rock_paper_scissor/.idea

iri_rock_paper_scissor/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(iri_rock_paper_scissor)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ******************************************************************** 
+#                 Add catkin additional components here
+# ******************************************************************** 
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm cv_bridge image_transport camera_info_manager sensor_msgs std_msgs std_srvs)
+
+
+find_package(OpenCV)
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ******************************************************************** 
+#           Add system and labrobotica dependencies here
+# ******************************************************************** 
+# find_package(<dependency> REQUIRED)
+
+# ******************************************************************** 
+#           Add topic, service and action definition here
+# ******************************************************************** 
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+# ******************************************************************** 
+#                 Add the dynamic reconfigure file 
+# ******************************************************************** 
+generate_dynamic_reconfigure_options(cfg/RockPaperScissor.cfg)
+
+# ******************************************************************** 
+#                 Add run time dependencies here
+# ******************************************************************** 
+catkin_package(
+#  INCLUDE_DIRS 
+#  LIBRARIES 
+# ******************************************************************** 
+#            Add ROS and IRI ROS run time dependencies
+# ******************************************************************** 
+ CATKIN_DEPENDS iri_base_algorithm cv_bridge image_transport camera_info_manager sensor_msgs std_msgs std_srvs
+# ******************************************************************** 
+#      Add system and labrobotica run time dependencies here
+# ******************************************************************** 
+#  DEPENDS 
+)
+
+###########
+## Build ##
+###########
+
+# ******************************************************************** 
+#                   Add the include directories 
+# ******************************************************************** 
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+
+include_directories(${OpenCV_INCLUDE_DIRS})
+# include_directories(${<dependency>_INCLUDE_DIR})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/rock_paper_scissor_alg.cpp src/rock_paper_scissor_alg_node.cpp)
+
+# ******************************************************************** 
+#                   Add the libraries
+# ******************************************************************** 
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+
+# ******************************************************************** 
+#               Add message headers dependencies 
+# ******************************************************************** 
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} cv_bridge_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} image_transport_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} camera_info_manager_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} sensor_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} std_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} std_srvs_generate_messages_cpp)
+# ******************************************************************** 
+#               Add dynamic reconfigure dependencies 
+# ******************************************************************** 
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})

iri_rock_paper_scissor/cfg/RockPaperScissor.cfg

+#! /usr/bin/env python
+#*  All rights reserved.
+#*
+#*  Redistribution and use in source and binary forms, with or without
+#*  modification, are permitted provided that the following conditions
+#*  are met:
+#*
+#*   * Redistributions of source code must retain the above copyright
+#*     notice, this list of conditions and the following disclaimer.
+#*   * Redistributions in binary form must reproduce the above
+#*     copyright notice, this list of conditions and the following
+#*     disclaimer in the documentation and/or other materials provided
+#*     with the distribution.
+#*   * Neither the name of the Willow Garage nor the names of its
+#*     contributors may be used to endorse or promote products derived
+#*     from this software without specific prior written permission.
+#*
+#*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+#*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+#*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+#*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+#*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+#*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+#*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+#*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#*  POSSIBILITY OF SUCH DAMAGE.
+#***********************************************************
+
+# Author: 
+
+PACKAGE='iri_rock_paper_scissor'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+#       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
+#gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
+
+exit(gen.generate(PACKAGE, "RockPaperScissorAlgorithm", "RockPaperScissor"))

iri_rock_paper_scissor/include/rock_paper_scissor_alg.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _rock_paper_scissor_alg_h_
+#define _rock_paper_scissor_alg_h_
+
+#include <iri_rock_paper_scissor/RockPaperScissorConfig.h>
+
+//include rock_paper_scissor_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class RockPaperScissorAlgorithm
+{
+  protected:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the RockPaperScissorConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    pthread_mutex_t access_;    
+
+    // private attributes and methods
+
+  public:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the RockPaperScissorConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    typedef iri_rock_paper_scissor::RockPaperScissorConfig Config;
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+
+   /**
+    * \brief constructor
+    *
+    * In this constructor parameters related to the specific driver can be
+    * initalized. Those parameters can be also set in the openDriver() function.
+    * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+    * may be also overload here.
+    */
+    RockPaperScissorAlgorithm(void);
+
+   /**
+    * \brief Lock Algorithm
+    *
+    * Locks access to the Algorithm class
+    */
+    void lock(void) { pthread_mutex_lock(&this->access_); };
+
+   /**
+    * \brief Unlock Algorithm
+    *
+    * Unlocks access to the Algorithm class
+    */
+    void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+   /**
+    * \brief Tries Access to Algorithm
+    *
+    * Tries access to Algorithm
+    * 
+    * \return true if the lock was adquired, false otherwise
+    */
+    bool try_enter(void) 
+    { 
+      if(pthread_mutex_trylock(&this->access_)==0)
+        return true;
+      else
+        return false;
+    };
+
+   /**
+    * \brief config update
+    *
+    * In this function the driver parameters must be updated with the input
+    * config variable. Then the new configuration state will be stored in the 
+    * Config attribute.
+    *
+    * \param new_cfg the new driver configuration state
+    *
+    * \param level level in which the update is taken place
+    */
+    void config_update(Config& config, uint32_t level=0);
+
+    // here define all rock_paper_scissor_alg interface methods to retrieve and set
+    // the driver parameters
+
+   /**
+    * \brief Destructor
+    *
+    * This destructor is called when the object is about to be destroyed.
+    *
+    */
+    ~RockPaperScissorAlgorithm(void);
+};
+
+#endif

iri_rock_paper_scissor/include/rock_paper_scissor_alg_node.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _rock_paper_scissor_alg_node_h_
+#define _rock_paper_scissor_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "rock_paper_scissor_alg.h"
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+
+
+#include <cmath>
+#include <time.h>
+// [publisher subscriber headers]
+#include <camera_info_manager/camera_info_manager.h>
+#include <image_transport/image_transport.h>
+// Uncomment to use the openCV <-> ROS bridge
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/Image.h>
+#include <std_msgs/String.h>
+
+// [service client headers]
+#include <std_srvs/SetBool.h>
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class RockPaperScissorAlgNode : public algorithm_base::IriBaseAlgorithm<RockPaperScissorAlgorithm>
+{
+  private:
+    // [publisher attributes]
+    // Uncomment to use the openCV <-> ROS bridge
+    cv_bridge::CvImagePtr cv_image_;
+    image_transport::ImageTransport it;
+
+    camera_info_manager::CameraInfoManager image_camera_manager;
+    image_transport::Publisher image_publisher_;
+    sensor_msgs::Image image_Image_msg_;
+
+    ros::Publisher speech_publisher_;
+    std_msgs::String speech_String_msg_;
+
+
+    // [subscriber attributes]
+
+    // [service attributes]
+    ros::ServiceServer game_outcome_server_;
+    bool game_outcomeCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
+    pthread_mutex_t game_outcome_mutex_;
+    void game_outcome_mutex_enter(void);
+    void game_outcome_mutex_exit(void);
+
+
+    // [client attributes]
+
+    // [action server attributes]
+
+    // [action client attributes]
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+  public:
+   /**
+    * \brief Constructor
+    * 
+    * This constructor initializes specific class attributes and all ROS
+    * communications variables to enable message exchange.
+    */
+    RockPaperScissorAlgNode(void);
+
+   /**
+    * \brief Destructor
+    * 
+    * This destructor frees all necessary dynamic memory allocated within this
+    * this class.
+    */
+    ~RockPaperScissorAlgNode(void);
+
+  protected:
+   /**
+    * \brief main node thread
+    *
+    * This is the main thread node function. Code written here will be executed
+    * in every node loop while the algorithm is on running state. Loop frequency 
+    * can be tuned by modifying loop_rate attribute.
+    *
+    * Here data related to the process loop or to ROS topics (mainly data structs
+    * related to the MSG and SRV files) must be updated. ROS publisher objects 
+    * must publish their data in this process. ROS client servers may also
+    * request data to the corresponding server topics.
+    */
+    void mainNodeThread(void);
+
+   /**
+    * \brief dynamic reconfigure server callback
+    * 
+    * This method is called whenever a new configuration is received through
+    * the dynamic reconfigure. The derivated generic algorithm class must 
+    * implement it.
+    *
+    * \param config an object with new configuration from all algorithm 
+    *               parameters defined in the config file.
+    * \param level  integer referring the level in which the configuration
+    *               has been changed.
+    */
+    void node_config_update(Config &config, uint32_t level);
+
+   /**
+    * \brief node add diagnostics
+    *
+    * In this abstract function additional ROS diagnostics applied to the 
+    * specific algorithms may be added.
+    */
+    void addNodeDiagnostics(void);
+
+    // [diagnostic functions]
+    
+    // [test functions]
+};
+
+#endif

iri_rock_paper_scissor/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>iri_rock_paper_scissor</name>
+  <version>0.0.0</version>
+  <description>The iri_rock_paper_scissor package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="aandriella@todo.todo">aandriella</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_rock_paper_scissor</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>iri_base_algorithm</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>camera_info_manager</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <run_depend>iri_base_algorithm</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>camera_info_manager</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

iri_rock_paper_scissor/src/rock_paper_scissor_alg.cpp

+#include "rock_paper_scissor_alg.h"
+
+RockPaperScissorAlgorithm::RockPaperScissorAlgorithm(void)
+{
+  pthread_mutex_init(&this->access_,NULL);
+}
+
+RockPaperScissorAlgorithm::~RockPaperScissorAlgorithm(void)
+{
+  pthread_mutex_destroy(&this->access_);
+}
+
+void RockPaperScissorAlgorithm::config_update(Config& config, uint32_t level)
+{
+  this->lock();
+
+  // save the current configuration
+  this->config_=config;
+  
+  this->unlock();
+}
+
+// RockPaperScissorAlgorithm Public API

iri_rock_paper_scissor/src/rock_paper_scissor_alg_node.cpp

+#include "rock_paper_scissor_alg_node.h"
+
+RockPaperScissorAlgNode::RockPaperScissorAlgNode(void) :
+  algorithm_base::IriBaseAlgorithm<RockPaperScissorAlgorithm>(),
+  image_camera_manager(ros::NodeHandle("~image")),
+  it(this->public_node_handle_)
+{
+  //init class attributes if necessary
+  //this->loop_rate_ = 2;//in [Hz]
+
+  // [init publishers]
+  this->image_publisher_ = this->it.advertise("image/image_raw", 100);
+  // uncomment the following lines to load the calibration file for the camera
+  // Change <cal_file_param> for the correct parameter name holding the configuration filename
+  //std::string image_cal_file;
+  //public_node_handle_.param<std::string>("<cal_file_param>",image_cal_file,"");
+  //if(this->image_camera_manager.validateURL(image_cal_file))
+  //{
+  //  if(!this->image_camera_manager.loadCameraInfo(image_cal_file))
+  //    ROS_INFO("Invalid calibration file");
+  //}
+  //else
+  //  ROS_INFO("Invalid calibration file");
+
+  this->speech_publisher_ = this->public_node_handle_.advertise<std_msgs::String>("speech", 100);
+
+
+  // [init subscribers]
+  
+  // [init services]
+  this->game_outcome_server_ = this->public_node_handle_.advertiseService("game_outcome", &RockPaperScissorAlgNode::game_outcomeCallback, this);
+  pthread_mutex_init(&this->game_outcome_mutex_,NULL);
+
+  
+  // [init clients]
+  
+  // [init action servers]
+  
+  // [init action clients]
+}
+
+RockPaperScissorAlgNode::~RockPaperScissorAlgNode(void)
+{
+  // [free dynamic memory]
+  pthread_mutex_destroy(&this->game_outcome_mutex_);
+}
+
+void RockPaperScissorAlgNode::mainNodeThread(void)
+{
+  // [fill msg structures]
+  // Initialize the topic message structure
+  //this->image_Image_msg_.data = my_var;
+
+  // Uncomment the following lines two initialize the camera info structure
+  //sensor_msgs::CameraInfo image_camera_info=this->image_camera_manager.getCameraInfo();
+  //image_camera_info.header.stamp = <time_stamp>;
+  //image_camera_info.header.frame_id = <frame_id>;
+
+  // Initialize the topic message structure
+  //this->speech_String_msg_.data = my_var;
+
+  
+  // [fill srv structure and make request to the server]
+  
+  // [fill action structure and make request to the action server]
+
+  // [publish messages]
+  // Uncomment the following line to convert an OpenCV image to a ROS image message
+  //this->image_Image_msg_=*this->cv_image_->toImageMsg();
+  // Uncomment the following line to publish the image together with the camera information
+  //this->image_publisher_.publish(this->image_Image_msg_,image_camera_info);
+
+  // Uncomment the following line to publish the topic message
+  //this->speech_publisher_.publish(this->speech_String_msg_);
+
+}
+
+/*  [subscriber callbacks] */
+
+/*  [service callbacks] */
+bool RockPaperScissorAlgNode::game_outcomeCallback(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)
+{
+  ROS_INFO("RockPaperScissorAlgNode::game_outcomeCallback: New Request Received!");
+
+  this->speech_String_msg_.data = "";
+  this->speech_publisher_.publish(this->speech_String_msg_);
+
+  // set the char variable for the y/n while loop. I have learned since that a bool statement
+  // might have been a little better for the loop
+  char ch;
+  // set up my variables for the scores
+  bool win = false;
+  bool tie = false;
+  bool lose = false;
+  // start of game loop, the loop will run untill ch == n
+  ROS_INFO("Press 1 for Rock, 2 for Paper, 3 for Scissors:" );
+  this->speech_String_msg_.data = "Press 1. for Rock, 2. for Paper, 3. for Scissors";
+  this->speech_publisher_.publish(this->speech_String_msg_);
+
+  cv::Mat OutIm = cv::imread("/home/aandriella/iri-lab/iri_ws/src/rock_paper_scissors/iri_rock_paper_scissor/images/Rock.PNG");
+
+  this->image_Image_msg_ =
+          *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
+  this->image_publisher_.publish(this->image_Image_msg_);
+
+
+
+  do{
+    std::srand(unsigned(std::time(0)));
+    win = false;
+    tie = false;
+    lose = false;
+    int choice;
+    // Fancy printed title, well as fancy as I can do.
+    ROS_INFO("--------------------------------------");
+    ROS_INFO("-- Lets play Rock, Paper, Scissors! --");
+    ROS_INFO("--------------------------------------");
+
+    // Ask the player to choose Rock, Paper, Scissors
+
+    std::cin >> choice;
+    // gets a random number between 1 and 3 and tell the player what was chosen
+    int ai = rand() % 3 + 1;
+    std::string guess;
+    switch(ai) {
+      case 1:
+        guess = "Rock";
+        break;
+      case 2:
+        guess = "Paper";
+        break;
+      case 3:
+        guess = "Scissors";
+        break;
+    }
+
+    cv::Mat OutIm = cv::imread("/home/aandriella/iri-lab/iri_ws/src/rock_paper_scissors/iri_rock_paper_scissor/images/"+guess+".PNG");
+
+    this->image_Image_msg_ =
+            *cv_bridge::CvImage(std_msgs::Header(), "bgr8", OutIm).toImageMsg();
+    this->image_publisher_.publish(this->image_Image_msg_);
+
+    ROS_INFO_STREAM("The computer chose: " << ai);
+    // starts possible outcome sequence in rock paper scissors there are 9 possible out comes 3 wins 3 ties and 3 losses.
+    if(choice == 1 && ai == 1){
+      ROS_INFO("Rock meets Rock its a tie!");
+      tie = true;
+    }
+    else if(choice ==1 && ai== 2){
+      ROS_INFO("Rock is covered by Paper the computer wins!.");
+      lose = true;
+    }
+    else if(choice == 1 && ai == 3){
+      ROS_INFO("Rock crushes Scissors you win!");
+      win = true;
+    }
+    else if(choice == 2 && ai == 1){
+      ROS_INFO("Paper covers Rock you win!");
+      win = true;
+    }
+    else if(choice == 2 && ai == 2){
+      ROS_INFO("Paper meets Paper its a tie!");
+      tie = true;
+    }
+    else if(choice == 2 && ai == 3){
+      ROS_INFO("Paper is cut by Scissors the computer wins!");
+      lose = true;
+    }
+    else if( choice == 3 && ai == 1){
+      ROS_INFO("Scissors are crushed by Rock computer wins!");
+      lose = true;
+    }
+    else if( choice == 3 && ai == 2){
+      ROS_INFO("Scissors cuts Paper you win!");
+      win = true;
+    }
+    else if(choice == 3 && ai == 3){
+      ROS_INFO("Scissors meet Scissors its a tie!");
+      tie = true;
+    }
+      // this is what happens if the player doesn't hit 1 2 or 3
+    else{
+      ROS_INFO("You didn't select 1, 2, or 3" );
+    }
+    // displays your score so far and asks if you want to play again then clears screen
+    ROS_INFO_STREAM( "Wins: " << win);
+    ROS_INFO_STREAM("Ties:" << tie);
+    ROS_INFO_STREAM("Losses:" << lose);
+
+    if(tie)
+    {
+      this->speech_String_msg_.data = "It was a tie, you need to replay the game ";
+      this->speech_publisher_.publish(this->speech_String_msg_);
+
+    }
+
+  }while(tie);
+
+  if(win)
+  {
+    this->speech_String_msg_.data = "You won, Congratulation!";
+    this->speech_publisher_.publish(this->speech_String_msg_);
+    ROS_INFO("WON");
+    res.success = 1;
+    res.message = "WON";
+  }
+  else
+  {
+    this->speech_String_msg_.data = "You lost, Well done!";
+    this->speech_publisher_.publish(this->speech_String_msg_);
+    ROS_INFO("LOST");
+    res.success = 0;
+    res.message = "LOST";
+
+  }
+  //system("pause"); took this out so that the loop ends it with out you needing to hit another button
+  return true;
+
+
+
+
+
+  //use appropiate mutex to shared variables if necessary
+  //this->alg_.lock();
+  //this->game_outcome_mutex_enter();
+
+  //ROS_INFO("RockPaperScissorAlgNode::game_outcomeCallback: Processing New Request!");
+  //do operations with req and output on res
+
+
+
+  //unlock previously blocked shared variables
+  //this->game_outcome_mutex_exit();
+  //this->alg_.unlock();
+
+  return true;
+}
+
+void RockPaperScissorAlgNode::game_outcome_mutex_enter(void)
+{
+  pthread_mutex_lock(&this->game_outcome_mutex_);
+}
+
+void RockPaperScissorAlgNode::game_outcome_mutex_exit(void)
+{
+  pthread_mutex_unlock(&this->game_outcome_mutex_);
+}
+
+
+/*  [action callbacks] */
+
+/*  [action requests] */
+
+void RockPaperScissorAlgNode::node_config_update(Config &config, uint32_t level)
+{
+  this->alg_.lock();
+  this->config_=config;
+  this->alg_.unlock();
+}
+
+void RockPaperScissorAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+  return algorithm_base::main<RockPaperScissorAlgNode>(argc, argv, "rock_paper_scissor_alg_node");
+}