ros学习

ros话题发布，话题订阅，传输图片
整个流程参考：https://blog.csdn.net/u010925447/article/details/80033288
my_pulisher.cpp

#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/rgb/image_rect_color", 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();
  }
}

my_subscriber.cpp

#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::Mat src =  cv_bridge::toCvShare(msg, "bgr8")->image.clone();
    if(src.empty()){
       //std::cout << "non image"<<std::endl;
    }else{
      std::cout << "get image"<<std::endl;
       cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
       cv::waitKey(0);
    }
    
  }
  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/rgb/image_rect_color", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
}

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(my_image_transport)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  OpenCV
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
include_directories(include ${OpenCV_INCLUDE_DIRS})
#build my_publisher and my_subscriber
add_executable(my_publisher src/my_publisher.cpp)
target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARY_DIRS})
 
add_executable(my_subscriber src/my_subscriber.cpp)
target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARY_DIRS})

开终端

roscore

发布

 rosrun my_image_transport my_publisher /home/coco/visp-ws/tutorial/image/monkey.jpeg 

订阅

rosrun my_image_transport my_subscriber

问题：
1.opencv的imshow显示失败，对话框未响应：
解决：在imshow后添加cv::waitKey(0);
或如上代码