send_images.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include "stdlib.h" 00031 #include "ros/ros.h" 00032 #include "sensor_msgs/Image.h" 00033 #include "sensor_msgs/image_encodings.h" 00034 #include "math.h" 00035 #include "image_transport/image_transport.h" 00036 00037 int main( int argc, char **argv ) 00038 { 00039 ros::init( argc, argv, "send_images" ); 00040 00041 ros::NodeHandle nh; 00042 image_transport::ImageTransport it( nh ); 00043 image_transport::Publisher pub = it.advertise("images", 100); 00044 ros::Rate loop_rate( 100 ); 00045 00046 sensor_msgs::Image msg; 00047 int width = 640; 00048 int height = 480; 00049 msg.data.resize( width * height * 3 ); 00050 msg.header.frame_id = "base_link"; 00051 msg.height = height; 00052 msg.width = width; 00053 msg.encoding = sensor_msgs::image_encodings::RGB8; 00054 msg.step = width * 3; 00055 00056 int count = 0; 00057 while( ros::ok() ) 00058 { 00059 for( int x = 0; x < width; x++ ) 00060 { 00061 for( int y = 0; y < height; y++ ) 00062 { 00063 int index = (x + y * width) * 3; 00064 long int rand = random(); 00065 msg.data[ index ] = rand & 0xff; 00066 index++; 00067 msg.data[ index ] = (rand >> 8) & 0xff; 00068 index++; 00069 msg.data[ index ] = (rand >> 16) & 0xff; 00070 } 00071 } 00072 msg.header.seq = count; 00073 msg.header.stamp = ros::Time::now(); 00074 00075 pub.publish( msg ); 00076 00077 ros::spinOnce(); 00078 loop_rate.sleep(); 00079 ++count; 00080 } 00081 }