Merge pull request #14 from rogy-AquaLab/imshow

imshow

app/imshow/CMakeLists.txt

@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(imshow)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(OpenCV REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+# Create executable
+add_executable(imshow src/imshow.cpp src/main.cpp)
+target_include_directories(imshow
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ ${OpenCV_INCLUDE_DIRS}
+)
+
+# Link dependencies
+ament_target_dependencies(imshow rclcpp sensor_msgs cv_bridge image_transport)
+
+target_link_libraries(imshow ${OpenCV_LIBRARIES})
+
+# Install targets
+install(TARGETS
+ imshow
+ DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch
+DESTINATION share/${PROJECT_NAME})
+
+ament_package()

app/imshow/README.md

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+# imshow
+
+USBカメラの映像を映す
+
+## Nodes
+
+- `Imshow`: 映像を映す
+
+## Executables
+
+- `imshow`: `imshow`Nodeをspin
+
+
+## Launches
+

app/imshow/include/imshow/imshow.hpp

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+#include <cv_bridge/cv_bridge.hpp>
+#include <opencv2/opencv.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+
+class Imshow : public rclcpp::Node {
+public:
+ Imshow();
+
+private:
+ void image_callback(const sensor_msgs::msg::Image::SharedPtr msg);
+ rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
+};

app/imshow/launch/imshow_launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package="imshow",
+ executable="imshow",
+ namespace="app",
+ remappings=[("/app/camera/image", "/packet/camera/image")]
+ )
+ ])

app/imshow/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>imshow</name>
+ <version>0.0.0</version>
+ <description>ROS 2 package for receiving images</description>
+ <maintainer email="[email protected]">hiro</maintainer>
+ <license>MIT License</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <build_depend>rclcpp</build_depend>
+ <build_depend>sensor_msgs</build_depend>
+ <build_depend>cv_bridge</build_depend>
+ <build_depend>image_transport</build_depend>
+ <exec_depend>rclcpp</exec_depend>
+ <exec_depend>sensor_msgs</exec_depend>
+ <exec_depend>cv_bridge</exec_depend>
+ <exec_depend>image_transport</exec_depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

app/imshow/src/imshow.cpp

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+#include "imshow/imshow.hpp"
+
+Imshow::Imshow() : Node("imshow") {
+ subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
+ "camera/image",
+ 10,
+ std::bind(&Imshow::image_callback, this, std::placeholders::_1)
+ );
+}
+
+void Imshow::image_callback(const sensor_msgs::msg::Image::SharedPtr msg) {
+ try {
+ const cv::Mat frame = cv_bridge::toCvCopy(msg, "bgr8")->image;
+ cv::imshow("Received Image", frame);
+ cv::waitKey(1);
+ } catch (const cv_bridge::Exception& e) {
+ RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
+ return;
+ }
+}

app/imshow/src/main.cpp

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+#include "imshow/imshow.hpp"
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char* argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared<Imshow>();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}