publisher.cpp

Go to the documentation of this file.

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <message_transport/message_transport.h>
#include <cv_bridge/cv_bridge.h>

class ImagePublisher {
        protected:

                ros::NodeHandle n_;
                message_transport::MessageTransport<sensor_msgs::Image> it_;
                // sensor_msgs::CvBridge bridge_;
        cv_bridge::CvImagePtr cv_ptr;
                message_transport::Publisher image_pub_;
                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_ptr.reset(new cv_bridge::CvImage);
            cv_ptr->image.create(cvSize(1500,1000),CV_8UC3);
            cv_ptr->toImageMsg(image);
            image.encoding = "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;
}