ROS python程序将本地照片转为topic

ROS python程序将本地照片转为topic

#!/usr/bin/env python3

# coding=utf-8

import os

import cv2

import numpy as np

import rospy

from sensor_msgs.msg import Image

from ros_numpy.image import numpy_to_image

if __name__ == '__main__':

image_dir = '/media/yake/Data/机场跑道灯/01imgs2topic'

image_list = os.listdir(image_dir)

image_list = [os.path.join(image_dir, i) for i in image_list]

image_iter = iter(image_list)

rospy.init_node('image_publish')

topic_name='/pylon_camera_node/image_raw'

publisher = rospy.Publisher(topic_name, Image, queue_size=1)

print("output topic name: {}".format(topic_name))

loop_rate = rospy.Rate(1)

print (f'publishing image with loop rate {1} HZ', loop_rate)

print (f'The directory should not have child directories.')

while not rospy.is_shutdown():

try:

image_path = next(image_iter)

except StopIteration:

image_iter = iter(image_list)

image_path = next(image_iter)

image = cv2.imread(image_path)

if image is not None:

image_msg = numpy_to_image(image, encoding='bgr8')

# image_msg = numpy_to_image(image, encoding='bayer_gbrg8')

publisher.publish(image_msg)

loop_rate.sleep()

else:

print (f'image not exist or broken')