broadcast.py
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1 #!/usr/bin/env python
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34 
35 import sys
36 import time
37 import math
38 import rospy
39 import cv2
40 
41 import sensor_msgs.msg
42 from cv_bridge import CvBridge
43 
44 
45 # Send each image by iterate it from given array of files names to a given topic,
46 # as a regular and compressed ROS Images msgs.
47 class Source:
48 
49  def __init__(self, topic, filenames):
50  self.pub = rospy.Publisher(topic, sensor_msgs.msg.Image)
51  self.pub_compressed = rospy.Publisher(topic + "/compressed", sensor_msgs.msg.CompressedImage)
52  self.filenames = filenames
53 
54  def spin(self):
55  time.sleep(1.0)
56  cvb = CvBridge()
57  while not rospy.core.is_shutdown():
58  cvim = cv2.imload(self.filenames[0])
59  self.pub.publish(cvb.cv2_to_imgmsg(cvim))
60  self.pub_compressed.publish(cvb.cv2_to_compressed_imgmsg(cvim))
61  self.filenames = self.filenames[1:] + [self.filenames[0]]
62  time.sleep(1)
63 
64 
65 def main(args):
66  s = Source(args[1], args[2:])
67  rospy.init_node('Source')
68  try:
69  s.spin()
70  rospy.spin()
71  outcome = 'test completed'
72  except KeyboardInterrupt:
73  print "shutting down"
74  outcome = 'keyboard interrupt'
75  rospy.core.signal_shutdown(outcome)
76 
77 if __name__ == '__main__':
78  main(sys.argv)
def main(args)
Definition: broadcast.py:65
def __init__(self, topic, filenames)
Definition: broadcast.py:49
def spin(self)
Definition: broadcast.py:54


opencv_tests
Author(s): James Bowman
autogenerated on Thu Jun 6 2019 19:58:07