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项目作者： felixchenfy

项目描述 ：
A python script to publish color or depth images from a folder to ROS topic.
高级语言： Python
项目地址: git://github.com/felixchenfy/ros_images_publisher.git
创建时间： 2019-11-28T18:32:21Z
项目社区：https://github.com/felixchenfy/ros_images_publisher
开源协议：MIT License
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ROS Images Publisher

A self-contained python script publish_images.py for publishing color or depth images from a folder to ROS topic.

For a fast unit test, run: bash run_test_case.sh

Download

  1. cd ~/catkin_ws/src
  2. git clone https://github.com/felixchenfy/ros_images_publisher
  3. cd ros_images_publisher
  4. chmod a+x publish_images.py

See help by -h

  1. $ rosrun ros_images_publisher publish_images.py -h
  3. usage: publish_images.py [-h] -i IMAGES_FOLDER [-c CAMERA_INFO_FILE]
  4.                          [-t TOPIC_NAME] [-r PUBLISH_RATE] [-f {color,depth}]
  6. Publish color or depth images from a folder to ROS topic.
  8. optional arguments:
  9.   -h, --help            show this help message and exit
  10.   -i IMAGES_FOLDER, --images_folder IMAGES_FOLDER
  11.                         A data folder which contains .jpg or .png images for
  12.                         publishing. (default: /home/feiyu/catkin_ws/src/ros_im
  13.                         ages_publisher/data/color/)
  14.   -c CAMERA_INFO_FILE, --camera_info_file CAMERA_INFO_FILE
  15.                         File path of camera parameters. No distortion.
  16.                         (default: /home/feiyu/catkin_ws/src/ros_images_publish
  17.                         er/data/cam_params_realsense.json)
  18.   -t TOPIC_NAME, --topic_name TOPIC_NAME
  19.                         ROS topic name to publish image. (default:
  20.                         test_data/image_raw)
  21.   -r PUBLISH_RATE, --publish_rate PUBLISH_RATE
  22.                         How many images to publish per second. (default: 1.0)
  23.   -f {color,depth}, --format {color,depth}
  24.                         Format of image: color (uint8, 3 channels), or depth
  25.                         (uint16, 1 channel). (default: color)

Exampe of usage

  2. publish_color_images(){
  3.     roscd ros_images_publisher; ROOT=$PWD
  4.     rosrun ros_images_publisher publish_images.py \
  5.         --images_folder $ROOT/data/color/ \
  6.         --topic_name test_data/color \
  7.         --camera_info_file $ROOT/data/cam_params_realsense.json
  8. }
  10. publish_depth_images(){
  11.     roscd ros_images_publisher; ROOT=$PWD
  12.     rosrun ros_images_publisher publish_images.py \
  13.         --images_folder $ROOT/data/depth/ \
  14.         --topic_name test_data/depth \
  15.         --camera_info_file "" \
  16.         --format depth
  17. }
  19. set_camera_at_origin(){
  20.     rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map head_camera 10
  21. }
  23. run_rviz(){
  24.     roscd ros_images_publisher; ROOT=$PWD
  25.     rosrun rviz rviz -d $ROOT/rviz_for_color_and_depth_images.rviz
  26. }
  28. # https://stackoverflow.com/questions/3004811/how-do-you-run-multiple-programs-in-parallel-from-a-bash-script
  29. # Run above 4 functions in parallel:
  30. (trap 'kill 0' SIGINT; publish_color_images & publish_depth_images & set_camera_at_origin & run_rviz)

The result is shown below: