ros相机广播订阅

1.广播

1.usb读取摄像头，并广播出去

catkin_create_pkg camera_pub cv_bridge roscpp sensor_msgs image_transport std_msgs

camera_pub.cpp

注意：此文件为了方便更改相机串口号设置的为launch文件读设备号，如果不需要，可将下面

cv::VideoCapture cap(usb_number);

将usb_number设为需要的值。

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
//OpenCV2标准头文件
#include <sensor_msgs/image_encodings.h>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
//https://blog.youkuaiyun.com/sinat_16643223/article/details/113531736?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.nonecase&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.nonecase
using namespace std;
using namespace cv;

int usb_number;
image_transport::Publisher image_pub;
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "usb_cam");
  ros::NodeHandle nh;
  ros::param::get("~usb_number",usb_number);
  image_transport::ImageTransport it(nh);
  ros::Rate loop_rate(30);
  image_pub=it.advertise("/camera/rgb/image_raw",1);
  cout<<"**************************"<<usb_number<<endl;
  cv::VideoCapture cap(usb_number);
  //设置摄像头分辨率
  //cv::Size image_size = Size(1920.0,1080.0);
  //cap.set(CAP_PROP_FRAME_WIDTH,image_size.height);
  //cap.set(CAP_PROP_FRAME_HEIGHT,image_size.width);
  cv::Mat frame;
  //设置全屏
  //namedWindow("web_cam",CV_WINDOW_NORMAL);
  //setWindowProperty("web_cam_frame",CV_WND_PROP_FULLSCREEN,CV_WINDOW_FULLSCREEN);
  sensor_msgs::ImagePtr msg;
  bool first_in=true;
  while(ros::ok())
  {
    cap>>frame;
    if(!frame.empty())
    {
      if(first_in)
       {
        cout<<"IM RESOLUTION: "<<frame.cols<<"x"<<frame.rows<<endl;
        first_in=false;
       }
       //设置图像帧格式->bgr8
       msg=cv_bridge::CvImage(std_msgs::Header(),"bgr8",frame).toImageMsg();
       image_pub.publish(msg);
    }
    ros::spinOnce();
    loop_rate.sleep();
  }
  cap.release();
} 

2.CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(camera_pub)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
)

find_package(OpenCV REQUIRED)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES camera_pub
   CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

add_executable(camera_pub src/camera_pub.cpp)
target_link_libraries(camera_pub ${catkin_LIBRARIES} ${OpenCV_LIBS})

 2.订阅广播相机，图像显示

catkin_create_pkg camera_sub cv_bridge roscpp sensor_msgs image_transport std_msgs

1.camera_sub.cpp

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
//OpenCV2标准头文件
 
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
 
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  cv::Mat img=cv_bridge::toCvShare(msg, "bgr8")->image;
  cv::Mat img1=img;
  cv::imshow("aaa",img);
  cv::waitKey(10);
}
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "image_listener");
  ros::NodeHandle nh;
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("/camera/rgb/image_raw", 1, imageCallback);
  ros::spin();
}

2.CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(camera_sub)
 
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
 
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  roscpp
  rospy
  sensor_msgs
  image_transport
  std_msgs
)
find_package(OpenCV REQUIRED)
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES recive_rgb
   CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs
#  DEPENDS system_lib
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)
 
add_executable(camera_sub src/camera_sub.cpp)
target_link_libraries(camera_sub ${catkin_LIBRARIES} ${OpenCV_LIBS})

3.两个节点启动文件launch

<launch>
   
    <node pkg="camera_sub" type="camera_sub" name="camera_sub" output="screen">
    </node>

    <node pkg="camera_pub" type="camera_pub" name="camera_pub" output="screen">
        <param name="usb_number"  type="int"  value="11"/>
    </node>

</launch>

lsusb，未防止串口号变动，给摄像头起别名，https://blog.youkuaiyun.com/JanKin_BY/article/details/114308643?spm=1001.2014.3001.5502