config/photocamera.yaml

+/**:
+  ros__parameters:
+    camera_topics: ["camera_front/compressed"]
+    dir: "./photos_for_dataset"
\ No newline at end of file

pspb_2025/state_machine/state_machine.py

@@ -98,8 +98,8 @@ def main():
             add_state(GarageSelectorState(c), "select_garage", {"red": "move_to_red", "green": "move_to_green", "yellow": "move_to_yellow"})
 
             add_con({"move_left": TwistMotionState(c, 1, 1), "timeout": WaitState(c, 5)}, c, "move_to_red", "start")
-            add_con({"move_left": TwistMotionState(c, 1, 0), "timeout": WaitState(c, 5)}, c, "move_to_green", "start")
-            add_con({"move_left": TwistMotionState(c, 1, -1), "timeout": WaitState(c, 5)}, c, "move_to_yellow", "start")
+            add_con({"move_forward": TwistMotionState(c, 1, 0), "timeout": WaitState(c, 5)}, c, "move_to_green", "start")
+            add_con({"move_right": TwistMotionState(c, 1, -1), "timeout": WaitState(c, 5)}, c, "move_to_yellow", "start")
 
             # ВАША МИССИЯ ЗДЕСЬ
         

pspb_2025/tools/CVMasking.py

@@ -65,7 +65,7 @@ class CVMasking(Node):
         self.__show_mask()
 
     def __show_mask(self) -> None:
-        self.info(f'lower_limit: {self.__lower_limit}\thigher_limit: {[self.__higher_limit]}')
+        self.info(f'lower_limit: {list(self.__lower_limit)}\thigher_limit: {list(self.__higher_limit)}')
     
     def update(self) -> None:  # fixed rate
         if self.__frame is None: return
@@ -103,12 +103,19 @@ class CVMasking(Node):
 
 
 def main(args=None):
-    rclpy.init(args=args)
-    opencv = CVMasking()
-    rclpy.spin(opencv)
-    opencv.destroy_node()
-    rclpy.shutdown()
+    rclpy.init()
+    try:
+        node = CVMasking()
+        rclpy.spin(node)
+    except KeyboardInterrupt:  # предотвращает появление ошибок при завершении ROS 2 нод сочетанием Ctrl+C
+        pass
+    finally:
+        node.destroy_node()
+        try: 
+            rclpy.shutdown()
+        except Exception:  # предотвращает ошибки, если ROS 2 ещё не успел запуститься
+            pass
+
 
-  
 if __name__ == '__main__':
-  main()
+    main()

setup.py

@@ -43,7 +43,7 @@ setup(
             
             # Ноды для настройки параметров
             f"cv_masking = {package_name}.tools.CVMasking:main",
-            f"multi_photocamera = {package_name}.tools.MultiPhotocamera:main",
+            f"multi_photocamera = {package_name}.tools.Multiphotocamera:main",
 
             # Другие ноды
             f"my_node_1 = {package_name}.my_nodes.MyNode1:main",