ROS学习—opencv使用之图片传输
前提操作:ros已安装,opencv已安装。
首先在工作空间中新建一个功能包rosopencv
catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport
编译一下catkin_make
,新建cpp文件如下
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <stdio.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_publisher");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);//用之前声明的节点句柄初始化it
image_transport::Publisher pub = it.advertise("camera/image", 1);<