ROS C++OPENCV JETSON_NANO

一、

1、camera  test

2、 mkdir不加sudo，会导致目录加锁，删除需要给每个目录添加权限(sudo chmod 777 目录名)

rm -r 目录

3、ros opencv(cpp)读取图像

包：

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  OpenCV
  cv_bridge
  image_transport
)

头文件

#include <ros/ros.h>
#include <stdio.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

test file

#include <ros/ros.h>
#include <stdio.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
 
static const char WINDOW[] = "Image window";
static void help()
{
    printf("\nThis program demonstrates converting OpenCV Image to ROS Image messages  \n"
        );
 
}
 
int main(int argc, char** argv)
{
  help();
  ros::init(argc, argv, "image_converter");
 
  //Reading an image from the file
  cv::Mat cv_image = cv::imread("/home/wei/ros_opencv_pic/2022-10-05_14-50.png");
  if(cv_image.empty() )
    {
        ROS_ERROR("Read the picture failed!");
        return -1;
    }
 
  //Convert OpenCV image to ROS message
  ros::NodeHandle node;
  image_transport::ImageTransport transport(node);
  image_transport::Publisher image_pub; 
  image_pub=transport.advertise("OutImage", 1);
  ros::Time time=ros::Time::now(); 
 
  cv_bridge::CvImage cvi;
  cvi.header.stamp = time;
  cvi.header.frame_id = "image";
  cvi.encoding = "bgr8";
  cvi.image = cv_image;
 
  sensor_msgs::Image im;
  cvi.toImageMsg(im);
  image_pub.publish(im);
  ROS_INFO("Converted Successfully!");
 
  //Show the image
  cv::namedWindow(WINDOW);
  cv::imshow(WINDOW,cv_image);
  cv::waitKey(0);
 
  ros::spin();
  return 0;
}

效果:

注意cmakelist文件

set(OpenCV_DIR /usr/share/OpenCV/)

find_package(catkin REQUIRED COMPONENTS

roscpp

rospy

std_msgs

OpenCV REQUIRED

)