URGENT USING ROS$2$ FOR ROBOTICS: Create a ROS package named cam$\_$pkg containing a node intruder$\_$detector. This node should capture input from a webcam and issue an audio alert if it detects the presence of multiple people. Additionally, when multiple individuals are detected, the node should output the message "Intruder Detected" in the command window.

Your submission should include the entire ROS workspace as a compressed $.$rar or $.$zip file, along with a video demonstrating the functionality of the node.

To complete this task, modify the provided $$my$\_$node.py$$ file to fulfill the above requirements. Ensure that you have installed all necessary dependencies. Helpful libraries include cv$2,$ pygame. THIS IS THE CONTENT OF my$\_$node.py: import time

import rclpy

import cv$2$

def main$()$:

rclpy$.$init$()$

myfirstnode $=$ rclpy$.$create$\_$node$(\text{'}$simple$\_$node'$)$

cap $=$ cv$2.$VideoCapture$(0)$

face$\_$cascade $=$ cv$2.$CascadeClassifier$($cv$2.$data.haarcascades $+$ 'haarcascade$\_$frontalface$\_$default.xml$\text{'})$

while True:

# Capture frame$-$by$-$frame

ret, frame $=$ cap.read$()$

if not ret:

print$("$Failed to grab frame"$)$

break

# Convert to grayscale for the face detection

gray $=$ cv$2.$cvtColor$($frame$,$ cv$2.$COLOR$\_$BGR$2$GRAY$)$

# Detect faces

faces $=$ face$\_$cascade.detectMultiScale$($gray$,1\mathrm{.}3,5)$

for $($x$,$ y$,$ w$,$ h$)$ in faces:

# Draw a rectangle around each face

cv$2.$rectangle$($frame$,($x$,$ y$),($x$+$w$,$ y$+$h$),(255,0,0),2)$

# Display the resulting frame with rectangles

cv$2.$imshow$(\text{'}$Frame$\text{'},$ frame$)$

# Press $\text{'}$q$\text{'}$ to exit the loop

if cv$2.$waitKey$(1)$ & $0$xFF $==$ ord$(\text{'}$q$\text{'})$:

break

# When everything is done, release the capture

cap.release$()$

cv$2.$destroyAllWindows$()$

if $\_\_$name$\_\_==\text{'}\_\_$main$\_\_\text{'}$:

main$()$