image_test.cpp
Go to the documentation of this file.00001 #include "ros/ros.h" 00002 00003 #include "sensor_msgs/Image.h" 00004 00005 int main( int argc, char** argv ) 00006 { 00007 ros::init( argc, argv, "cloud_test" ); 00008 00009 ros::NodeHandle n; 00010 00011 ros::Publisher rgb_pub = n.advertise<sensor_msgs::Image>( "red_image", 0 ); 00012 00013 ros::Duration(0.1).sleep(); 00014 00015 sensor_msgs::Image red_image; 00016 red_image.header.frame_id = "/base_link"; 00017 red_image.header.stamp = ros::Time::now(); 00018 red_image.height = 100; 00019 red_image.width = 100; 00020 red_image.encoding = "rgb8"; 00021 red_image.step = 3 * red_image.height; 00022 00023 red_image.data.resize(3 * red_image.height * red_image.width); 00024 for (uint32_t i = 0; i < 3 * red_image.height * red_image.width; ++i) 00025 { 00026 if (i % 3 == 0) 00027 { 00028 red_image.data[i] = 255; 00029 } 00030 else 00031 { 00032 red_image.data[i] = 0; 00033 } 00034 } 00035 00036 int i = 0; 00037 while (n.ok()) 00038 { 00039 ROS_INFO("Publishing"); 00040 00041 rgb_pub.publish(red_image); 00042 00043 ++i; 00044 00045 ros::Duration(1.0).sleep(); 00046 } 00047 }