ROS下订阅摄像头节点图片

使用的是realsense d435，他的图像节点是/camera/color/image_raw.本文主要是写一个节点订阅这个

 

节点代码如下：

#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)
{
//sensor_msgs::Image ROS中image传递的消息形式
  try
  {
    cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
    cvWaitKey(3);
  }
  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_sub_node");
  ros::NodeHandle nh;
  cv::namedWindow("view");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("/camera/color/image_raw", 1, imageCallback);
  ros::spin();
  cv::destroyWindow("view");  //窗口
}

节点订阅参考的这个链接:https://blog.csdn.net/qq_31918961/article/details/80517547

cmakelist.txt编写修改参者这个链接：https://blog.csdn.net/ding977921830/article/details/70168877

 

ROS创建工作区方法如下：

参考链接：https://www.cnblogs.com/blue35sky/p/6078771.html

 

opencv未定义引用解决方法：

参考链接：http://www.mamicode.com/info-detail-2143503.html