broadcast.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 import sys
00035 import time
00036 import math
00037 import rospy
00038 import cv2
00039 
00040 import sensor_msgs.msg
00041 from cv_bridge import CvBridge
00042 
00043 class source:
00044 
00045   def __init__(self, topic, filenames):
00046     self.pub = rospy.Publisher(topic, sensor_msgs.msg.Image)
00047     self.filenames = filenames
00048 
00049   def spin(self):
00050     time.sleep(1.0)
00051     cvb = CvBridge()
00052     while not rospy.core.is_shutdown():
00053       cvim = cv2.imload(self.filenames[0])
00054       self.pub.publish(cvb.cv2_to_imgmsg(cvim))
00055       self.filenames = self.filenames[1:] + [self.filenames[0]]
00056       time.sleep(1)
00057 
00058 def main(args):
00059   s = source(args[1], args[2:])
00060   rospy.init_node('source')
00061   try:
00062     s.spin()
00063     rospy.spin()
00064     outcome = 'test completed'
00065   except KeyboardInterrupt:
00066     print "shutting down"
00067     outcome = 'keyboard interrupt'
00068   rospy.core.signal_shutdown(outcome)
00069 
00070 if __name__ == '__main__':
00071   main(sys.argv)


opencv_tests
Author(s): James Bowman
autogenerated on Wed Sep 2 2015 12:14:17