一个非常简短的USB摄像头ROS节点的编写
代码来自2023中国机器人与人工智能大赛微型自主赛项 Magpie350资源包,也是用的videocapture的方式。
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "video_uploader");
ros::NodeHandle nh;
ros::Publisher image_raw = nh.advertise<sensor_msgs::Image>("/usb_cam/image_raw", 1);
int camera = 0;
auto cap = cv::VideoCapture(camera);
while (ros::ok()) {
cv::Mat frame;
cap >> frame;
if (frame.empty()) break;
auto image = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
image_raw.publish(image);
}
cap.release();
return 0;
}