ROS OPENCV读取本地视频并发布topic话题

按照ros创建功能包步骤进行：ROS学习笔记(一)：创建工作空间和功能包

mkdir -p ~/catkin_ws/src#创建工作空间
 cd ~/catkin_ws/#初始化
 catkin_make
 gedit ~/.bashrc
 source ~/catkin_ws/devel/setup.bash#add
 source ~/.bashrc
catkin_create_pkg videoTotopic roscpp image_transport opencv2 cv_bridge#创建功能包
#更改文件内容
 catkin_make
 roscore
rosrun videototopic videototopic /home/kobosp/SLAM_YOLO/a.mp4

文件结构如下

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <sstream>
#include <iostream>
#include "opencv2/opencv.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
 
using namespace std;
using namespace cv;
 
int main(int argc, char **argv)
{
	ros::init(argc,argv,"videototopic");
	ros::NodeHandle nh;
	image_transport::ImageTransport it(nh);//发布图片需要用到image_transport
	image_transport::Publisher pub = it.advertise("/usb_cam/image_raw", 1);

	if(argc)
	cout<<argv[1]<<endl;
	ros::Rate loop_rate(30);
	//string path = "/home/liwb/Documents/output/";
	//path = path + argv[1];//用户自己添加视频文件名字
	string path = argv[1];
	VideoCapture cap(path);//open video from the path
	if(!cap.isOpened()){
		std::cout<<"open video failed!"<<std::endl;
		return -1;
	}
	else
	std::cout<<"open video success!"<<std::endl;

	Mat frame;//this is an image
	bool isSuccess = true;
	while(nh.ok()){
		isSuccess = cap.read(frame);
		if(!isSuccess){//if the video ends, then break
			std::cout<<"video ends"<<std::endl;
			break;
		}
		//将opencv的图片转换成ros的sensor_msgs，然后才能发布。
		sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
		pub.publish(msg);
		ros::spinOnce();
		loop_rate.sleep();
	}
	return 0;
}

cmake_minimum_required(VERSION 3.0.2)
project(videototopic)
SET(OpenCV_DIR /usr/local/share/OpenCV)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  OpenCV
)


catkin_package(

)

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(videototopic src/videototopic.cpp)

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