added some info on the readme

README.md

@@ -1,8 +1,39 @@
-# TI-project - Kobuki
+# TI-project - exploration robot Kobuki
 
 ## Description
-This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The kobuki is able to drive around in a room and detect objects.
+This project is a kobuki that drives around in dangerous areas and detects objects in its path. It uses a camera to detect objects. The purpose of this project is to explore dangerous areas without risking human lives. You are able to control the robot using controller on the website. 
 
 ## Photos
 ![Kobuki](/docs/assets/KobukiPhoto.jpg)
 
+## Installation
+
+### Requirements
+
+- Kobuki robot
+- Raspberry Pi (minimum 3B)
+- Camera
+- power supply for Raspberry Pi
+- laptop or computer
+
+### Steps
+
+1. **Install Python and Pip**
+   - Ensure you have Python installed on your system. You can download it from [python.org](https://www.python.org/).
+   - Pip is the package installer for Python. It usually comes with Python, but you can install it separately if needed.
+
+2. **Clone Our Repository**
+    - Clone our repository to your local machine doing the following :
+        - Open your terminal
+        - Change the current working directory to the location where you want the cloned directory.
+        - Type `git clone https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git
+  
+3. **Install the required packages**
+    - Open the terminal and navigate to the project - scr - Python - flask.
+    - Run the following command to install the required packages:
+        - `pip install -r requirements.txt`
+        -  This will install all the python packages required to run the project.
+        -  for C++, you will need to install the following packages:
+           - OpenCV
+           - mqtt-client
+4.   

src/C++/Driver/src/main.cpp

@@ -289,23 +289,12 @@ void sendKobukiData(TKobukiData &data) {
 }
 
 void CapnSend() {
-    int fps = 15;
+    VideoCapture cap(0);
-    int width = 800;
-    int height = 600;
-
-    VideoCapture cap("/dev/video0");
     if (!cap.isOpened()) {
         cerr << "Error: Could not open camera" << endl;
         return;
     }
 
-    VideoWriter out("appsrc ! videoconvert ! video/x-raw,format=I420 ! x264enc speed-preset=ultrafast bitrate=600 key-int-max=" + to_string(fps * 2) + " ! video/x-h264,profile=baseline ! mpegtsmux ! udpsink host=127.0.0.1 port=5001",
-                    CAP_GSTREAMER, 0, fps, Size(width, height), true);
-    if (!out.isOpened()) {
-        cerr << "Error: Can't open video writer" << endl;
-        return;
-    }
-
     Mat frame;
     while (true) {
         cap >> frame; // Capture a new image frame
@@ -314,10 +303,15 @@ void CapnSend() {
             continue;
         }
 
-        // Write the frame to the UDP stream
+        // Convert the image to a byte array
-        out.write(frame);
+        vector<uchar> buf;
+        imencode(".jpg", frame, buf);
+        auto* enc_msg = reinterpret_cast<unsigned char*>(buf.data());
+
+        // Publish the image data
+        client.publishMessage("kobuki/cam", string(enc_msg, enc_msg + buf.size()));
         cout << "Sent image" << endl;
 
-        std::this_thread::sleep_for(std::chrono::milliseconds(1000 / fps)); // Control the frame rate
+        std::this_thread::sleep_for(std::chrono::milliseconds(200)); // Send image every 200ms
     }
 }