dummy_image_publisher.cpp
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29 
30 #include <string>
31 
32 // ROS Libraries
33 #include <ros/ros.h>
34 #include <sensor_msgs/Image.h>
35 
37 {
38  public:
40  {
41  ros::NodeHandle node;
42  ros::NodeHandle priv("~");
43  image_pub_ = node.advertise<sensor_msgs::Image>("image", 100);
44 
45  priv.param("rate", rate_, 10.0);
46  priv.param("width", width_, 640);
47  priv.param("height", height_, 480);
48  priv.param("encoding", encoding_, std::string("mono8"));
49  }
50 
51  void Spin()
52  {
53  sensor_msgs::Image image;
54  image.encoding = encoding_;
55  image.width = width_;
56  image.height = height_;
57  image.step = width_;
58  image.data.resize(height_ * width_);
59 
60  ros::Rate rate(rate_);
61  while (ros::ok())
62  {
63  image.header.stamp = ros::Time::now();
64  image_pub_.publish(image);
65 
66  ros::spinOnce();
67  rate.sleep();
68  }
69  }
70 
71  private:
72  double rate_;
73  int32_t width_;
74  int32_t height_;
75  std::string encoding_;
76 
78 };
79 
80 int main(int argc, char **argv)
81 {
82  ros::init(argc, argv, "dummy_image_publisher", ros::init_options::AnonymousName);
83 
85  node.Spin();
86 }
void publish(const boost::shared_ptr< M > &message) const
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
int main(int argc, char **argv)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
ROSCPP_DECL bool ok()
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
bool sleep()
static Time now()
ROSCPP_DECL void spinOnce()


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Apr 6 2021 02:50:39