编写talker.py:
这个文件调用了opencv打开摄像头获取图像并发布出去
#!/usr/bin/env python
# license removed for brevity
import rospy
from sensor_msgs.msg import Image
import cv2
from cv_bridge import CvBridge
def talker():
pub = rospy.Publisher('/tutorial/image', Image, queue_size=1)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(30)
bridge = CvBridge()
Video = cv2.VideoCapture(0)
while not rospy.is_shutdown():
ret, img = Video.read()
cv2.imshow("talker", img)
cv2.waitKey(3)
pub.publish(bridge.cv2_to_imgmsg(img, "bgr8"))
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
编写listener.py:
这个文件订阅talker的话题并获取图像。
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Image
import cv2
from cv_bridge import CvBridge
def callback(imgmsg):
bridge = CvBridge()
img = bridge.imgmsg_to_cv2(imgmsg, "bgr8")
cv2.imshow("listener", img)
cv2.waitKey(3)
def listener():
# In ROS, nodes are uniquely named. If two nodes with the same
# node are launched, the previous one is kicked off. The
# anonymous=True flag means that rospy will choose a unique
# name for our 'listener' node so that multiple listeners can
# run simultaneously.
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("/tutorial/image", Image, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
listener()
打开三个终端运行roscore,以上两个py文件就可以调用摄像头发布的image信息