broadcast.py

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#!/usr/bin/env python
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import roslib
roslib.load_manifest('opencv_tests')

import sys
import time
import math
import rospy
import cv

import sensor_msgs.msg
from opencv_latest.cv_bridge import CvBridge

class source:

  def __init__(self, topic, filenames):
    self.pub = rospy.Publisher(topic, sensor_msgs.msg.Image)
    self.filenames = filenames

  def spin(self):
    time.sleep(1.0)
    cvb = CvBridge()
    while not rospy.core.is_shutdown():
      cvim = cv.LoadImage(self.filenames[0])
      self.pub.publish(cvb.cv_to_imgmsg(cvim))
      self.filenames = self.filenames[1:] + [self.filenames[0]]
      time.sleep(1)

def main(args):
  s = source(args[1], args[2:])
  rospy.init_node('source')
  try:
    s.spin()
    rospy.spin()
    outcome = 'test completed'
  except KeyboardInterrupt:
    print "shutting down"
    outcome = 'keyboard interrupt'
  rospy.core.signal_shutdown(outcome)

if __name__ == '__main__':
  main(sys.argv)