source.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):
    self.pub = rospy.Publisher("/opencv_tests/images", sensor_msgs.msg.Image)

  def spin(self):
    time.sleep(1.0)
    started = time.time()
    counter = 0
    cvim = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
    ball_xv = 10
    ball_yv = 10
    ball_x = 100
    ball_y = 100

    cvb = CvBridge()

    while not rospy.core.is_shutdown():

      cv.Set(cvim, 0)
      cv.Circle(cvim, (ball_x, ball_y), 10, 255, -1)

      ball_x += ball_xv
      ball_y += ball_yv
      if ball_x in [10, 630]:
        ball_xv = -ball_xv
      if ball_y in [10, 470]:
        ball_yv = -ball_yv

      self.pub.publish(cvb.cv_to_imgmsg(cvim))

      time.sleep(0.03)

def main(args):
  s = source()
  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)