publisher.cpp

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#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <message_transport/message_transport.h>
#include <cv_bridge/CvBridge.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>

class ImagePublisher {
        protected:

                ros::NodeHandle n_;
                message_transport::MessageTransport<sensor_msgs::Image> it_;
                sensor_msgs::CvBridge bridge_;
                message_transport::Publisher image_pub_;
                IplImage *cv_image;
                sensor_msgs::Image image;


        public:

                ImagePublisher(ros::NodeHandle &n) : n_(n), 
                        it_(n_,"imagem_transport","sensor_msgs::Image") {
                        image_pub_ = it_.advertise("image_source",1);
                        // cv_image = cvCreateImage(cvSize(640,480),8,1);
                        // image = *(bridge_.cvToImgMsg(cv_image, "mono8"));
                        // cv_image = cvCreateImage(cvSize(640,480),8,3);
                        cv_image = cvCreateImage(cvSize(1500,1000),8,3);
                        // cv_image = cvCreateImage(cvSize(3000,2000),8,3);
                        image = *(bridge_.cvToImgMsg(cv_image, "bgr8"));
                }

                ~ImagePublisher()
                {
                }

                int mainloop()
                {

                        ros::Rate loop_rate(30);
                        while (ros::ok())
                        {
                                image.header.stamp = ros::Time::now();
                                image_pub_.publish(image);
                                ROS_DEBUG("Published image at %f",image.header.stamp.toSec());
                                ros::spinOnce();
                                loop_rate.sleep();
                        }

                        return 0;
                }

};

int main(int argc, char** argv)
{
        ros::init(argc, argv, "test_publisher");
        ros::NodeHandle n;
        ImagePublisher ic(n);
        ic.mainloop();
        return 0;
}

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imagem_transport
Author(s): Cedric Pradalier
autogenerated on Fri Jan 11 09:33:07 2013