20 #include <gazebo/transport/transport.hh> 21 #include <gazebo/msgs/msgs.hh> 22 #include <gazebo/gazebo_client.hh> 30 std::cout <<
"image width : " << msg->image().width() << std::endl;
31 std::cout <<
"image height : " << msg->image().height() << std::endl;
34 data =
new char[msg->image().data().length() + 1];
36 memcpy(data, msg->image().data().c_str(), msg->image().data().length());
44 int main(
int _argc,
char **_argv)
47 gazebo::client::setup(_argc, _argv);
50 gazebo::transport::NodePtr node(
new gazebo::transport::Node());
55 std::cerr <<
"Please put a tb3 model(`waffle` or `waffle_pi`)" << std::endl;
59 char* tb3_model = _argv[1];
60 std::string topic_name =
"";
62 if (std::string(tb3_model) ==
"waffle")
63 topic_name =
"/gazebo/default/user/turtlebot3_waffle/image/intel_realsense_r200/image";
64 else if (std::string(tb3_model) ==
"waffle_pi")
65 topic_name =
"/gazebo/default/user/turtlebot3_waffle_pi/image/raspberry_pi_cam/image";
68 std::cerr <<
"Please put a tb3 model(`waffle` or `waffle_pi`)" << std::endl;
72 std::cout <<
"topic name is " << topic_name << std::endl;
75 gazebo::transport::SubscriberPtr sub = node->Subscribe(topic_name,
imageCallbackMsg);
79 gazebo::common::Time::MSleep(10);
82 gazebo::client::shutdown();
int main(int _argc, char **_argv)
void imageCallbackMsg(ConstImageStampedPtr &msg)