33 lines
1.0 KiB
Python
33 lines
1.0 KiB
Python
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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from cv_bridge import CvBridge
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from sensor_msgs.msg import Image
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import cv2
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import numpy as np
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class MinimalPublisher(Node):
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def __init__(self):
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super().__init__('minimal_publisher')
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self.publisher_ = self.create_publisher(Image, '/camera/color/image_raw', 10)
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timer_period = 0.5 # seconds
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self.timer = self.create_timer(timer_period, self.timer_callback)
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self.i = 0
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self.im_list = []
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self.cv_image = cv2.imread('data/DJI_0001_0001.jpg') ### an RGB image
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self.bridge = CvBridge()
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def timer_callback(self):
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self.publisher_.publish(self.bridge.cv2_to_imgmsg(np.array(self.cv_image), "bgr8"))
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self.get_logger().info('Publishing an image')
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def main(args=None):
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rclpy.init(args=args)
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minimal_publisher = MinimalPublisher()
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rclpy.spin(minimal_publisher)
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minimal_publisher.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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