dummy_image_publisher.cpp

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// *****************************************************************************
//
// Copyright (c) 2014, Southwest Research Institute® (SwRI®)
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//       names of its contributors may be used to endorse or promote products
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#include <string>
 
// ROS Libraries
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
 
class DummyImagePublisherNode
{
  public:
    DummyImagePublisherNode()
    {
      ros::NodeHandle node;
      ros::NodeHandle priv("~");
      image_pub_ = node.advertise<sensor_msgs::Image>("image", 100);
      
      priv.param("rate", rate_, 10.0);
      priv.param("width", width_, 640);
      priv.param("height", height_, 480);
      priv.param("encoding", encoding_, std::string("mono8"));
    }
 
    void Spin()
    {
      sensor_msgs::Image image;
      image.encoding = encoding_;
      image.width = width_;
      image.height = height_;
      image.step = width_;
      image.data.resize(height_ * width_);
    
      ros::Rate rate(rate_);
      while (ros::ok())
      {
        image.header.stamp = ros::Time::now();
        image_pub_.publish(image);
      
        ros::spinOnce();
        rate.sleep();
      }
    }
 
  private:
    double rate_;
    int32_t width_;
    int32_t height_;
    std::string encoding_;
    
    ros::Publisher image_pub_;
};
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "dummy_image_publisher", ros::init_options::AnonymousName);
 
  DummyImagePublisherNode node;
  node.Spin();
}