ROS编写图片订阅与发布

1、发布者图片

#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();
  }
}

2、订阅者图片

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  try
  {
    cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
  }
  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");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
}

3、package.xml

<?xml version="1.0"?>
<package format="2">
  <name>ros_cv_image</name>
  <version>0.0.0</version>
  <description>The ros_cv_image package</description>
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>opencv2</build_depend>

  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>opencv2</build_export_depend> 

  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>image_transport</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>opencv2</exec_depend>

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

4、CMakeList.xml

cmake_minimum_required(VERSION 2.8.3)
project(ros_cv_image)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  std_msgs
)
#增加的这句
find_package(OpenCV REQUIRED)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ros_cv_image
#  CATKIN_DEPENDS cv_bridge image_transport roscpp rospy std_msgs
#  DEPENDS system_lib
)

#添加 ${OpenCV_INCLUDE_DIRS}
include_directories(
 ./include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

add_executable(image_publisher src/image_publisher)
target_link_libraries(image_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_executable(image_subscriber src/image_subscriber)
target_link_libraries(image_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

5、测试

roscore

rosrun ros_cv_image image_publisher /home/lxl/Desktop/23.jpg

rosrun ros_cv_image image_subscriber