从rosbag中订阅话题--以图像为例（含压缩图像）

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已于 2024-01-08 09:56:08 修改

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文章标签： c++ 开源

于 2023-10-23 19:39:22 首次发布

本文链接：https://blog.csdn.net/weixin_43990429/article/details/133997109

版权

本文是利用ROS话题的订阅功能实现从bag文件中提取信息_rosbag提取多个话题信息-CSDN博客的补充。

（update）遇到了压缩图像话题的订阅问题（/camera/color/image_raw/compressed），参考了：ros接收并保存图片_ros2接受image-CSDN博客

ROS一键创建工作空间代码

conda deactivate # 如果有需要的话

# 检查路径
echo "the current space is "
pwd

# 初始化工作空间
mkdir -p ./rosbag-ext/src
cd ./rosbag-ext/src
catkin_init_workspace

cd ..
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

# 设置环境变量
source ./devel/setup.bash
echo "the ros path is"  # 检查环境变量
echo $ROS_PACKAGE_PATH

# catkin_create_pkg <package_name> [depend_1] [depend_2] [depend_n] 
# 功能包
# 其中extract 是功能包名称，后面是依赖项 
catkin_create_pkg extract   cv_bridge roscpp std_msgs sensor_msgs

# 编译功能包
catkin_make
source ./devel/setup.bash

订阅话题的代码

// 该代码是获取rosbag里的topic所用
#include <ros/ros.h>
#include<sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include<cv_bridge/cv_bridge.h>
#include<iostream>
#include<string>
#include<vector>

using namespace std;
vector<double> image_times;
vector<cv::Mat> images;

string yaml = "/home/nm/ros-learn/rosbag-ext/src/extract/src/topicpath.yaml";
string ImageTopic;
string ImagePath;
string TimePath;
int i = 0;

void readParameters(ros::NodeHandle &n)
{
    std:string config_file;
    config_file = yaml;
    cv::FileStorage fsSettings(config_file, cv::FileStorage::READ);
    if(! fsSettings.isOpened())
    {
        std::cerr << "ERROR: wrong path to settings" << std::endl;
    }
    fsSettings["image_topic"] >> ImageTopic;
    fsSettings["image_path"] >> ImagePath;
    fsSettings["time_path"] >> TimePath;
    fsSettings.release();
}

void imageCallback(const sensor_msgs::ImageConstPtr &img_msg)
{
    cv_bridge::CvImageConstPtr ptr;
    ptr = cv_bridge::toCvCopy(img_msg, img_msg->encoding);
    cv::Mat show_img = ptr -> image;

    string str1, image_path;
    stringstream ss1;

    cout << "sub No." << i << " image from topic" << endl;
    ss1 << i;
    ss1 >> str1;
    ++i;
    image_path = ImagePath + str1 + ".png";
    cv::imwrite(image_path, show_img);

}

// rosrun extract nm_subscriber 
int main(int argc, char** argv)
{   
    // yaml = argv[1];
    // yaml = "/home/nm/ros-learn/rosbag-ext/src/extract/src/topicpath.yaml";
	// 初始化ROS节点
	ros::init(argc, argv, "nm_image_sub");

    // 创建节点句柄
	ros::NodeHandle node;
    readParameters(node);
    cout << "Image Path == " << yaml << endl;

    // ros::Subscriber image_sub = node.subscribe(IMAGE_TOPIC, 1000, imageCallback); // 订阅图像信息
    // ros::Subscriber sub_imu = node.subscribe(IMU_TOPIC, 2000, imu_callback); // 订阅imu信息
    ros::Subscriber img_sub = node.subscribe(ImageTopic,5000,imageCallback);

    ros::spin();


    return 0;
}

/*
数据包rosbag info
path:        ./Datasets/MH_01_easy.bag
version:     2.0
duration:    3:06s (186s)
start:       Jun 25 2014 03:02:59.81 (1403636579.81)
end:         Jun 25 2014 03:06:06.70 (1403636766.70)
size:        2.5 GB
messages:    47283
compression: none [2456/2456 chunks]
types:       geometry_msgs/PointStamped [c63aecb41bfdfd6b7e1fac37c7cbe7bf]
             sensor_msgs/Image          [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu            [6a62c6daae103f4ff57a132d6f95cec2]
topics:      /cam0/image_raw    3682 msgs    : sensor_msgs/Image         
             /cam1/image_raw    3682 msgs    : sensor_msgs/Image         
             /imu0             36820 msgs    : sensor_msgs/Imu           
             /leica/position    3099 msgs    : geometry_msgs/PointStamped

*/

YAML存放各种地址

%YAML:1.0

# the save path of image 
image_path: "/home/nm/ros-learn/Datasets/temp/image/"


# the name of image topic
image_topic: /cam0/image_raw

# the name of imu topic
imu_topic: /imu0

CMakeLists

cmake_minimum_required(VERSION 3.0.2)
project(extract)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  sensor_msgs
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES extract
 CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/extract.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/extract_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

add_executable(nm_subscriber /home/nm/ros-learn/rosbag-ext/src/extract/src/sub.cpp)
target_link_libraries(nm_subscriber ${catkin_LIBRARIES})


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_extract.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

（update）对于压缩图像的问题，使用ROS的image_transport解决，具体的操作为：在cpp文件中添加#include <image_transport/image_transport.h>，在image的回调函数中将const sensor_msgs::ImageConstPtr &img_msg改为const sensor_msgs::CompressedImageConstPtr &img_msg。同时修改CMakeLists.txt和package.xml文件，添加image_transport包依赖。示例代码如下。

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(extract)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  sensor_msgs
  std_msgs
  image_transport
)
find_package(OpenCV 4 REQUIRED)
include_directories(${OpenCV_DIRS})


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES extract
 CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)


add_executable(ex-pic
        src/ex-pic-4-top.cpp
        )

add_dependencies(ex-pic ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(ex-pic
        ${catkin_LIBRARIES}
        ${OpenCV_LIBS}
        )

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>extract</name>
  <version>0.0.0</version>
  <description>The extract package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="nm@todo.todo">nm</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>image_transport</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>image_transport</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

ex-pic-4-top.cpp

// 该代码是获取rosbag里的topic（图像），并保存在文件夹里。

#include <iostream>
#include <string>
#include <vector>
#include <fstream>
#include <sstream>

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <image_transport/image_transport.h>

#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>


using namespace std;
vector<double> image_times;
vector<cv::Mat> images;

string yaml = "/home/nm/ros-learn/rosbag-ext/src/extract/src/topicpath.yaml";

string ImageTopic;
string ImagePath;
string TimePath; //时间戳

static ros::Subscriber img_sub; // 全局变量


// 处理压缩图像的 /image_raw/compressed
void pic_compressed_callback(const sensor_msgs::CompressedImageConstPtr &img_msg)
{
    ros::Time time = img_msg->header.stamp;
    std::string str_tmp;
    str_tmp = ImagePath + std::to_string(time.sec) + "." + std::to_string(time.nsec) + ".jpg";
    cv_bridge::CvImageConstPtr ptr_tmp;
    ptr_tmp = cv_bridge::toCvCopy(img_msg, "bgr8");
    cout << str_tmp.c_str() << endl;
    cv::imwrite(str_tmp , ptr_tmp->image);
}


int main(int argc, char **argv)
{
    ros::init(argc,argv,"nm_ex");
    ros::NodeHandle node;
    
    readParameters(node);
    cout << "ImagePath =  " << ImagePath << endl;
    // image_transport::ImageTransport it(node);
    
    // image_transport::Subscriber sub = it.subscribe(ImageTopic,1,pic_callback);
    // image_transport::Publisher pub = it.advertise("/outputimg",1);
    img_sub = node.subscribe(ImageTopic,100,pic_compressed_callback);

    ros::spin();
    // ros::spin() 将会进入循环， 一直调用回调函数xxxCallback(),每次调用100/200/n(设定值)个数据。

    
    return 0;
}

/*
path:        camera-raw.bag
version:     2.0
duration:    28.4s
start:       Jan 05 2024 12:06:15.97 (1704427575.97)
end:         Jan 05 2024 12:06:44.36 (1704427604.36)
size:        78.5 MB
messages:    801
compression: none [99/99 chunks]
types:       sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
topics:      /camera/color/image_raw/compressed   801 msgs    : sensor_msgs/CompressedImage
*/