broadcast.py

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#!/usr/bin/env python
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# Copyright (c) 2008, Willow Garage, Inc.
# Copyright (c) 2016, Tal Regev.
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import sys
import time
import math
import rospy
import cv2

import sensor_msgs.msg
from cv_bridge import CvBridge


# Send each image by iterate it from given array of files names  to a given topic,
# as a regular and compressed ROS Images msgs.
class Source:

    def __init__(self, topic, filenames):
        self.pub            = rospy.Publisher(topic, sensor_msgs.msg.Image)
        self.pub_compressed = rospy.Publisher(topic + "/compressed", sensor_msgs.msg.CompressedImage)
        self.filenames      = filenames

    def spin(self):
        time.sleep(1.0)
        cvb = CvBridge()
        while not rospy.core.is_shutdown():
            cvim = cv2.imload(self.filenames[0])
            self.pub.publish(cvb.cv2_to_imgmsg(cvim))
            self.pub_compressed.publish(cvb.cv2_to_compressed_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)