imshowパッケージをpythonに再変更

app/imshow/imshow/imshow.py

@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+
+class Imshow(Node):
+ def __init__(self):
+ super().__init__('imshow')
+ self.subscription=self.create_subscription(Image, 'camera_image', self.listener_callback, 10)
+ self.bridge=CvBridge()
+
+ def listener_callback(self, msg):
+ frame=self.bridge.imgmsg_to_cv2(msg, "bgr8")
+ cv2.imshow('Camera', frame)
+ cv2.waitKey(1)
+
+def main(args=None):
+ rclpy.init(args=args)
+ imshow=Imshow()
+ rclpy.spin(imshow)
+ imshow.destroy_node()
+ rclpy.shutdown()
+
+if __name__=='__main__':
+ main()

app/imshow/package.xml

@@ -4,20 +4,13 @@
  <name>imshow</name>
  <version>0.0.0</version>
  <description>ROS 2 package for receiving images</description>
- <maintainer email="[email protected]">hiro</maintainer>
+ <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>

app/imshow/setup.cfg

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

app/imshow/setup.py

@@ -0,0 +1,29 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'imshow'
+
+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='Image display for ROS2',
+ license='MIT License',
+ tests_require=[],
+ entry_points={
+ 'console_scripts': [
+ 'imshow = imshow.imshow:main',
+ ],
+ },
+)