ROS——发布图像节点并用opencv图像处理节点消息

完整代码：

mkdir rosimgsend
cd rosimgsend
mkdir src
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
cd src
catkin_create_pkg pub_sub_eg roscpp std_msgs  image_transport cv_bridge
cd  pub_sub_eg
cd src
gedit pub.cpp
gedit sub.cpp
cd ..
gedit CMakeLists.txt
cd ..
cd ..
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
cd devel/lib/pub_sub_eg
./pub
./sub

具体思路：

1. 建立空文件夹rosimgsend和手动建立src
2. catkin_make 建立需要的ros各种东西 最好指定python版本
3. 到src中
4. 使用catkin_create_pkg指令，建立一个pub_sub_eg的程序，并关联ros的各种包
5. pub_sub_eg里面有2个文件，2个文件夹
6. 在src中，放入cpp
7. 修改CMakeList，把cpp链接进去，并把需要使用的额外库，比如opencv也导入
8. 最后回到rosimgsend，再次catkin_make，这时会自动解析自己定义的pub_sub_eg（因为使用catkin_create_pkg建立的，系统可以自动识别）
9. 最后，会在devel中生成一大堆文件，在lib中有最终我们可以执行的文件

图片解析：

进入src

在cmakelist中加入代码：

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS} )

add_executable(${PROJECT_NAME}_talker src/pub_eg.cpp)
add_executable(${PROJECT_NAME}_listener src/sub_eg.cpp)

target_link_libraries(${PROJECT_NAME}_listener ${catkin_LIBRARIES} ${OpenCV_LIBS})
target_link_libraries(${PROJECT_NAME}_talker ${catkin_LIBRARIES} ${OpenCV_LIBS})

接着，打开roscore，分别建立终端，调用listener和talker

pub.cpp

//pub_eg.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/NavSatFix.h"
#include "sensor_msgs/Image.h"
#include <sstream>
#include <string>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp> 
#include <iostream>
#include <sys/stat.h>
#include <cstring>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include <dirent.h>
#include <vector>


#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>

using namespace std;
using namespace cv;

int main(int argc, char **argv) {
  ros::init(argc, argv, "cam_node");

  int video_device;
  int frame_rate;
  ros::NodeHandle nh("~");
  image_transport::ImageTransport it(nh);
  image_transport::Publisher pub = it.advertise("image_raw", 10);

  ROS_INFO("Camera device%d openned, fps=%d", video_device, frame_rate);
    while(1){
        cv::Mat image =imread("/home/xxx/Documents/catkin_sw/src/hello_world/src/opencv-logo.jpeg",IMREAD_COLOR);
        cout<<image.size().width<<endl;
      cv_bridge::CvImage out_msg;
      out_msg.header.stamp = ros::Time::now();
      out_msg.encoding = sensor_msgs::image_encodings::RGB8;
      out_msg.image = image;
      pub.publish(out_msg.toImageMsg());
    std::cout<<"img loop"<<std::endl;


    }
      
  return 0;
}

sub.cpp

//sub_eg.cpp
#include "ros/ros.h"
#include <sensor_msgs/Imu.h>
#include "std_msgs/String.h"
#include "sensor_msgs/NavSatFix.h"
#include "sensor_msgs/Image.h"
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp> 
#include <string>


#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>


using namespace std;

void imageCb(const sensor_msgs::ImagePtr& msg)
{
     std::cout<<"imageCb"<<std::endl;
    cv_bridge::CvImagePtr cv_ptr;
    cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::RGB8);
    cout<<"width is "<<cv_ptr->image.size().width<<endl;
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "cam_parse");
    ros::NodeHandle nh("~");
    std::cout<<"subcriber!!!!"<<std::endl;
    image_transport::ImageTransport it(nh);
    ros::Subscriber imusub = nh.subscribe("/cam_node/image_raw", 10, imageCb);
    ros::spin();
    return 0;
}

src目录结构