camera_readerをc++からpythonに変更

device/camera_reader/camera_reader/camera.py

@@ -0,0 +1,35 @@
+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 +3,15 @@
 <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>
+ <description>Camera</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>rclpy</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>
+ <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 +1,29 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'camera_reader'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=[package_name],
+ data_files=[
+ ('share/ament_index/resource_index/packages',['resource/' + package_name]),
+ ('share/' + package_name,['package.xml']),
+ (os.path.join('share','package_name','launch'),glob(os.path.join('launch','*')))
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='hiro',
+ maintainer_email='[email protected]',
+ description='Camera for ROS2',
+ license='MIT license',
+ tests_require=[],
+ entry_points={
+ 'console_scripts': [
+ 'camera=camera_reader.camera:main',
+ ],
+ },
+)