一起学ros之发送图片和接收图片

图片发送：

mkdir image_sender

mkdir image_sender/src

cd image_sender/src/

ros2 pkg create image_sender_py --build-type ament_python --dependencies rclpy --node-name image_sender

vim image_sender_py/image_sender_py/image_sender.py

代码：

#encoding:utf-8
  
import rclpy
from rclpy.node import Node
import cv2
from cv_bridge import CvBridge, CvBridgeError
import numpy as np
import time
from sensor_msgs.msg import Image
import time
from sensor_msgs.msg import Image

class NodePublisher(Node):
    def __init__(self, name):
        super().__init__(name)
        self.get_logger().info("Hi, I am %s!" %name)

def main(args=None):
    image_path = "/tmp/bus.jpeg"
    image = cv2.imread(image_path)

    rclpy.init()
    node = NodePublisher('Camera_image')
    image_pub = node.create_publisher(Image, "image_data", 10)
    bridge = CvBridge()

    while True:
        data = bridge.cv2_to_imgmsg(image, encoding="bgr8")
        image_pub.publish(data)
        time.sleep(0.04)

cd ..

colcon build

. install/setup.sh

ros2 run image_sender_py image_sender

显示：
[INFO] [1703339500.883404231] [Camera_image]: Hi, I am Camera_image!

-----------------------------------------------------------------------------------------------------------------------

接收图片：

图片接收：

mkdir image_receiver

mkdir image_receiver/src

cd image_receiver/src/

ros2 pkg create image_receiver_py --build-type ament_python --dependencies rclpy --node-name image_receiver

vim image_receiver_py/image_receiver_py/image_sender.py

#encoding:utf-8
  
import rclpy
from rclpy.node import Node
import cv2
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image

bridge = CvBridge()

class NodeSubscribe(Node):
    def __init__(self, name):
        super().__init__(name)
        self.get_logger().info("hi, I am %s!" %name)

    def callback(self, data):
        global bridge
        cv_img = bridge.imgmsg_to_cv2(data, "bgr8")
        cv2.imshow("frame", cv_img)
        cv2.waitKey(1)

def main(args=None):
    rclpy.init()
    node = NodeSubscribe('image_node')
    node.create_subscription(Image, 'image_data', node.callback, 10)
    rclpy.spin(node)
    rclpy.shutdown()

cd ..

colcon build

. install/setup.sh

ros2 run image_receiver_py image_receiver

可以看到图片