5 import dynamic_reconfigure.client
7 from std_msgs.msg
import String
8 from sensor_msgs.msg
import PointCloud2
13 rospy.init_node(
"sample_capture_py", anonymous=
True)
15 rospy.loginfo(
"Starting sample_capture.py")
17 rospy.wait_for_service(
"/zivid_camera/capture", 30.0)
19 rospy.Subscriber(
"/zivid_camera/points/xyzrgba", PointCloud2, self.
on_points)
23 rospy.loginfo(
"Enabling the reflection filter")
24 settings_client = dynamic_reconfigure.client.Client(
"/zivid_camera/settings/")
25 settings_config = {
"processing_filters_reflection_removal_enabled":
True}
26 settings_client.update_configuration(settings_config)
28 rospy.loginfo(
"Enabling and configure the first acquisition")
29 acquisition_0_client = dynamic_reconfigure.client.Client(
30 "/zivid_camera/settings/acquisition_0" 32 acquisition_0_config = {
35 "exposure_time": 20000,
37 acquisition_0_client.update_configuration(acquisition_0_config)
40 rospy.loginfo(
"Calling capture service")
44 rospy.loginfo(
"PointCloud received")
48 if __name__ ==
"__main__":
def on_points(self, data)