说明
通过OpenCV获取图像转为ROS图像话题发布文章来源：https://www.toymoban.com/news/detail-527931.html
代码
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_publisher");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1);
cv::Mat image = cv::imread(argv[1], CV_LOAD_IMAGE_COLOR);
cv::waitKey(30);
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
ros::Rate loop_rate(5);
while (nh.ok()) {
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
注：sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), “bgr8”, image).toImageMsg(); //核心代码文章来源地址https://www.toymoban.com/news/detail-527931.html
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