在my_image_viewer包中,创建一个新的Python脚本,例如image_viewer.py,这将是你ROS2节点的主文件。 2. 编写代码以订阅发布图片流的ROS2话题 在image_viewer.py中,你需要导入必要的ROS2和OpenCV库,并创建一个订阅者来接收图片数据。 python import rclpy from rclpy.node import Node import cv2 from sensor_msgs...
例如,假设我们有两个nodes: Camera node和Image_viewer node。一个典型的事件序列将开始于Camera通知master,它想要发表的topic“images”的图像: 现在,Camera将图像发布到“images”topic,但是没有人订阅该topic,因此实际上没有发送数据。现在,Image_viewer想订阅topic“images”,看看是否有一些图像: 现在主题“图像”既...
Pipeline with interprocess viewer One other important thing to get right is to avoid interruption of the intra process zero-copy behavior when interprocess subscriptions are made. To test this we can run the first image pipeline demo,image_pipeline_all_in_one, and then run an instance of the ...
如果你同时想查看深度图像和彩色图像,你可以按照类似的步骤添加另一个Image显示器,选择/camera/depth/image_rect_raw或者类似的话题,来显示深度图像。 小贴士: 点云数据:如果你还想查看点云数据,可以添加PointCloud2显示器,订阅/camera/depth/points来查看三维点云。 视频和帧率:在RealSense Viewer中可以轻松调整帧率...
rosrun kinect2_viewer kinect2_viewer kinect2 sd image rosrun kinect2_viewer kinect2_viewer kinect2 sd both 6.ROS rviz相机图像显示 rosrun rviz rviz 选中Fixed Frame,在右侧点击出现选择框,kinect2_link;点击左下角add添加camera,当然如果想显示点云的话,点击Depthcloud;在camera中的image topic选择不同...
[12.085s] [ext: omni.kit.widget.timeline-105.0.1] startup [12.091s] [ext: omni.kit.window.collection-0.1.22] startup [12.097s] [ext: omni.kit.window.commands-0.2.5] startup [12.100s] [ext: omni.kit.window.console-0.2.12] startup [12.116s] [ext: omni.kit.window.imageviewer-1.0...
subscribe()returns animage_transport::Subscriberobject that you must hold on to until you want to unsubscribe. When the Subscriber object is destructed, it will automatically unsubscribe from thecamera/imagebase topic. In just a few lines of code, we have written a ROS image viewer that can ha...
Topic Viewer插件是ign-gui插件,它列出了所有当前发布的主题并为每个主题的结构建模,因此用户可以访问其字段和嵌套字段。 可绘图字段可拖动以在绘图工具中使用 实时动态更新主题 运输绘图和UI Transport Plotting插件是一个ign-gui插件,它使用点火运输库来处理运输图 ...
parameters=[{'ffmpeg_image_transport.encoding': 'hevc_nvenc', 'ffmpeg_image_transport.profile': 'main', 'ffmpeg_image_transport.preset': 'll', 'ffmpeg_image_transport.gop': 15}] Subscriber (viewer) The subscriber has only one parameter, which is the map between the encoding that was use...