broadcast.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 00034 import roslib 00035 roslib.load_manifest('opencv_tests') 00036 00037 import sys 00038 import time 00039 import math 00040 import rospy 00041 import cv 00042 00043 import sensor_msgs.msg 00044 from opencv_latest.cv_bridge import CvBridge 00045 00046 class source: 00047 00048 def __init__(self, topic, filenames): 00049 self.pub = rospy.Publisher(topic, sensor_msgs.msg.Image) 00050 self.filenames = filenames 00051 00052 def spin(self): 00053 time.sleep(1.0) 00054 cvb = CvBridge() 00055 while not rospy.core.is_shutdown(): 00056 cvim = cv.LoadImage(self.filenames[0]) 00057 self.pub.publish(cvb.cv_to_imgmsg(cvim)) 00058 self.filenames = self.filenames[1:] + [self.filenames[0]] 00059 time.sleep(1) 00060 00061 def main(args): 00062 s = source(args[1], args[2:]) 00063 rospy.init_node('source') 00064 try: 00065 s.spin() 00066 rospy.spin() 00067 outcome = 'test completed' 00068 except KeyboardInterrupt: 00069 print "shutting down" 00070 outcome = 'keyboard interrupt' 00071 rospy.core.signal_shutdown(outcome) 00072 00073 if __name__ == '__main__': 00074 main(sys.argv)