Ardrone2 ROS Image和OpenCV Image相互转化

本文主要介绍在ar drone2四旋翼飞行器上，基于ROS，使用cv_bridge将ROS Image和OpenCV Image相互转化，编写简单的Publisher和Sublisher程序，把结果图像显示出来。

开发平台：AR drone2  ubuntu14.04  ROS indigo

ROS Image messages 和OpenCV Mat相互转化可参考  

http://wiki.ros.org/cv_bridge/Tutorials/UsingCvBridgeToConvertBetweenROSImagesAndOpenCVImages

ardrone_autonomy使用手册

http://ardrone-autonomy.readthedocs.io/en/latest/index.html

image_transport example

http://wiki.ros.org/image_transport/Tutorials

Step 1：创建一个工作空间dronework，然后利用catkin_create_pkg创建dronevideo package，dronevideopackage开发包依赖于cv_bridge image_transport sensor_msgs roscpp std_msgs

mkdir -p /root/dronework/src

cd /root/dronework/src

source /opt/ros/indigo/setup.bash

catkin_create_pkg dronevideo cv_bridge image_transport sensor_msgs roscpp std_msgs

cd /root/dronework

catkin_make

在root目录下.bashrc文件中添加  

source /opt/ros/indigo/setup.bash

source /root/dronework/devel/setup.bash

这样可以避免每次打开一个新的终端，需要source对应的setup.bash

Step 2：在dronevideo package的src目录下添加dronevideo_p