ROS RViz基本学习笔记（二）

目标：将摄像头图像信息加入到（一）中数据中

环境：Ubuntu 16.04 ROS kinetic Opencv2.4.9

方法：

这里需要publish的类型为camera/image 中的类型，可以直接通过image现有 cv_bridge::CvImage（）函数实现图像流的传递。

在（一）的基础上，修改代码如下：

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <cmath>
#include <string>
#include <turtlesim/Pose.h>
#include <iomanip>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <cv.h>
#include <cxcore.h>

using namespace std;
using namespace cv;

double recdata[3];

void recfunc(const turtlesim::Pose&msg){

    //ROS_INFO_STREAM(std::setprecision(2)<<std::fixed<<"postion=("<<msg.x<<","<<msg.y<<")"<<"direct="<<msg.theta);
    recdata[0] = (double)msg.x;
    recdata[1] = (double)msg.y;
    recdata[2] = (double)msg.theta;
}

main(int argc, char** argv){
    ros::init(argc , argv , "mapping");
    ros::NodeHandle n;
    ros::Rate per(10);

    ros::Publisher pub = n.advertise<visualization_msgs::Marker>("mapping_marker",1000);
    ros::Subscriber sub = n.subscribe("turtle1/pose",1000,&recfunc);
    image_transport::ImageTransport myimage(n);
    image_transport::Publisher pub2 = myimage.advertise("camera/image", 1);

    //Mat image = imread("/home/jkwang/test.png",CV_LOAD_IMAGE_COLOR);
    //if(image.empty()){
    //    cout<< "no such image!"<<endl;
    //}

    IplImage* frame = NULL;