camera_readerをc++からpythonに変更

device/camera_reader/camera_reader/camera.py

@@ -0,0 +1,34 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+import cv2
+from cv_bridge import CvBridge
+
+class Camera(Node):
+ def __init__(self):
+ super().__init__('camera')
+ self.publisher_=self.create_publisher(Image,'camera_image',10)
+ self.timer=self.create_timer(0.1,self.timer_callback)
+ self.cap=cv2.VideoCapture(0)
+ self.bridge=CvBridge()
+ if not self.cap.isOpened():
+ self.get_logger().error('Failed to open camera')
+ rclpy.shutdown()
+
+ def timer_callback(self):
+ ret,frame=self.cap.read()
+ if ret:
+ msg=self.bridge.cv2_to_imgmsg(frame,"bgr8")
+ self.publisher_.publish(msg)
+ else:
+ self.get_logger().error('Failed to capture image')
+
+def main(args=None):
+ rclpy.init(args=args)
+ camera=Camera()
+ rclpy.spin(camera)
+ camera.destroy_node()
+ rclpy.shutdown()
+
+if __name__=="__main__":
+ main()

device/camera_reader/package.xml

@@ -3,21 +3,16 @@
 <package format="3">
  <name>camera_reader</name>
  <version>0.0.0</version>
- <description>ROS 2 package for receiving images</description>
- <maintainer email="[email protected]">hiro</maintainer>
- <license>MIT License</license>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">hiro</maintainer>
+ <license>TODO: License declaration</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>
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
 
  <export>
- <build_type>ament_cmake</build_type>
+ <build_type>ament_python</build_type>
  </export>
 </package>

device/camera_reader/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/camera_reader
+[install]
+install_scripts=$base/lib/camera_reader

device/camera_reader/setup.py

@@ -0,0 +1,21 @@
+from setuptools import find_packages, setup
+
+package_name = 'camera_reader'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=[package_name],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='hiro',
+ maintainer_email='[email protected]',
+ description='Camera for ROS2',
+ license='MIT license',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'camera=camera_reader.camera:main',
+ ],
+ },
+)

device/camera_reader/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'

device/camera_reader/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)

device/camera_reader/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'