ROS2中图像消息类型为sensor_msgs::msg::Image,需要包含头文件sensor_msgs/msg/image.hpp。 首先我们先来看一下sensor_msgs::msg::Image的数据结构: std_msgs/Headerheader#Headertimestampshouldbeacquisitiontimeofimage# Header frame_id should be optical frame of camera# origin of frame should be optical ...
ROS2基于上面的九类基础数据类型,为我们定义出了很多拿来就用的数据类型,比如我们在前面章节中用到的图像数据类型sensor_msgs/Image,我们可以使用下面的命令来看一下其组成: ros2 interface show sensor_msgs/msg/Image去掉单行的注释后的样子如下: std_msgs/Header header # Header timestamp should be acquisition...
使用ros2 interface package sensor_msgs命令可以查看某一个接口包下所有的接口 比如:传感器类的消息包sensor_msgs 打开终端输入:ros2 interface package sensor_msgs sensor_msgs/msg/JointState #机器人关节数据 sensor_msgs/msg/Temperature #温度数据 sensor_msgs/msg/Imu #加速度传感器 sensor_msgs/msg/Image #...
<build_depend>sensor_msgs</build_depend> <build_depend>cv_bridge</build_depend> <build_depend>eigen</build_depend> <build_depend>geometry_msgs</build_depend> <build_depend>message_filters</build_depend> <build_depend>image_transport</build_depend> <exec_depend>roscpp</exec_depend> <exec_de...
sensor_msgs/msg/Image, through ros_ign_bridge or ros_ign_image sensor_msgs/msg/PointCloud2, through ros_ign_bridge or ros_ign_point_cloud 新终端,执行命令 使用图像桥(单向,使用 image_transport) # RGB image ros2 launch ros_ign_gazebo_demos image_bridge.launch.py image_topic:=/rgbd_camera...
from sensor_msgs.msg import Image class NodePublisher(Node): def __init__(self,name): super().__init__(name) self.get_logger().info("大家好,我是%s!" % name) def main(args=None): height = 480 width = 640 capture = cv2.VideoCapture(0) ...
importrclpyimportcv2importcv_bridgeimportnumpy as npfrom rclpy.nodeimportNodefrom sensor_msgs.msgimportImage classColorDetection(Node):def __init__(self):super().__init__('color_detection')self.bridge= cv_bridge.CvBridge()self.image_sub = self.create_subscription(Image...
#define IMAGE_PIPELINE__CAMERA_NODE_HPP_ #include <chrono> #include <sstream> #include <string> #include <thread> #include <utility> #include "opencv2/highgui/highgui.hpp" #include "rclcpp/rclcpp.hpp" #include "sensor_msgs/msg/image.hpp" ...
在ROS2中还预定义了许多标准话题消息接口，这在实际工作中有着广泛的应用，比如：sensor_msgs包中定义了...
现在,您只需告诉 ROSBag 记录所有类型为 sensor_msgs/msg/Image 的消息,ROSBag 就会处理其余部分!但还有更多!您还可以排除特定的消息类型!如果您想保持 ROSBag 的精简以便快速与同事共享,这将特别有用。 RViz2 RViz2,ROS 2 的内置可视化工具,带有一系列新功能,这些功能...