ROS 订阅图像节点(1)

时间：2021-04-16 03:50:04

博客

http://blog.csdn.net/github_30605157/article/details/50990493

参考ROS原网站

http://wiki.ros.org/image_transport/Tutorials

ROS：两个节点同时具有发布和订阅图像信息的功能

http://blog.csdn.net/ding977921830/article/details/70168877

发射结点　my_publisher

#include <ros/ros.h>

#include <image_transport/image_transport.h>

#include <opencv2/highgui/highgui.hpp>

#include <cv_bridge/cv_bridge.h>

int main(int argc, char** argv)

{

  ros::init(argc, argv, "image_publisher");

  ros::NodeHandle nh;

  image_transport::ImageTransport it(nh);

  image_transport::Publisher pub = it.advertise("camera/image", 1);

  cv::Mat image = cv::imread(argv[1], CV_LOAD_IMAGE_COLOR);

  sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();

  ros::Rate loop_rate(5);

  while (nh.ok()) {

    pub.publish(msg);

    ros::spinOnce();

    loop_rate.sleep();

  }

}

接收节点　my_subscriber

接受完要等待一下

#include <ros/ros.h>

#include <image_transport/image_transport.h>

#include <opencv2/highgui/highgui.hpp>

#include <cv_bridge/cv_bridge.h>

//cv::Mat image;

void imageCallback(const sensor_msgs::ImageConstPtr& msg)

{

  try

  {

   // image = cv_bridge::toCvShare(msg, "bgr8")->image;

   // cv::imshow("view", image);

  //  cvWaitKey(1);

   cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);

   cvWaitKey(1);

  }

  catch (cv_bridge::Exception& e)

  {

    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());

  }

}

int main(int argc, char **argv)

{

  ros::init(argc, argv, "image_listener");

  ros::NodeHandle nh;

  cv::namedWindow("view", 0);

  cv::startWindowThread();

  image_transport::ImageTransport it(nh);

  image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);

  ros::spin();

  cv::destroyWindow("view");

}

ｃａｍｋｅ.list

cmake_minimum_required(VERSION 2.8.3)

project(my_image_transport)

find_package(catkin REQUIRED COMPONENTS

  cv_bridge

  image_transport

  OpenCV

)

catkin_package(

#  INCLUDE_DIRS include

#  LIBRARIES my_image_transport

  CATKIN_DEPENDS cv_bridge image_transport

#  DEPENDS system_lib

)

include_directories(

# include

  ${catkin_INCLUDE_DIRS}

  ${OpenCV_INCLUDE_DIRS}

)

#build my_publisher and my_subscriber

add_executable(my_publisher src/my_publisher.cpp)

target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(my_subscriber src/my_subscriber.cpp)

target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

package。xml

<?xml version="1.0"?>

<package format="2">

  <name>my_image_transport</name>

  <version>0.0.0</version>

  <description>The my_image_transport package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->

  <!-- Example:  -->

  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->

  <maintainer email="drone@todo.todo">drone</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>TODO</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/my_image_transport</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 depend as a shortcut for packages that are both build and exec dependencies -->

  <!--   <depend>roscpp</depend> -->

  <!--   Note that this is equivalent to the following: -->

  <!--   <build_depend>roscpp</build_depend> -->

  <!--   <exec_depend>roscpp</exec_depend> -->

  <!-- Use build_depend for packages you need at compile time: -->

  <!--   <build_depend>message_generation</build_depend> -->

  <!-- Use build_export_depend for packages you need in order to build against this package: -->

  <!--   <build_export_depend>message_generation</build_export_depend> -->

  <!-- Use buildtool_depend for build tool packages: -->

  <!--   <buildtool_depend>catkin</buildtool_depend> -->

  <!-- Use exec_depend for packages you need at runtime: -->

  <!--   <exec_depend>message_runtime</exec_depend> -->

  <!-- Use test_depend for packages you need only for testing: -->

  <!--   <test_depend>gtest</test_depend> -->

  <!-- Use doc_depend for packages you need only for building documentation: -->

  <!--   <doc_depend>doxygen</doc_depend> -->

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>cv_bridge</build_depend>

  <build_depend>image_transport</build_depend>

  <build_export_depend>cv_bridge</build_export_depend>

  <build_export_depend>image_transport</build_export_depend>

  <build_depend>opencv2</build_depend>

  <exec_depend>cv_bridge</exec_depend>

  <exec_depend>image_transport</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->

  <export>

    <!-- Other tools can request additional information be placed here -->

  </export>

</package>

测试命令

发射
rosrun my_image_ansport my_publisher 2.png

接受

rosrun my_image_transport my_subscriber

http://www.cvlibs.net/datasets/kitti/eval_odometry.php

相关文章