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Moving all ROS1 simulator changes from robosub back here (#3)
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8 changes: 4 additions & 4 deletions
8
descriptions/vortex_descriptions/launch/robosub_world_sub.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,12 +1,12 @@ | ||
| <?xml version="1.0" ?> | ||
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| <!-- | ||
| <!-- | ||
| Base code written by Kristoffer Rakstad Solberg, Student | ||
| Copyright (c) 2019 Manta AUV, Vortex NTNU. | ||
| All rights reserved. --> | ||
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| <launch> | ||
| <include file="$(find vortex_descriptions)/launch/robosub_world.launch"/> | ||
| <include file="$(find urab_sub_description)/launch/upload_urab_sub.launch"/> | ||
| <include file="$(find urab_sub_thruster_manager)/launch/thruster_manager.launch"/> | ||
| <include file="$(find vortex_descriptions)/launch/robosub_world.launch" pass_all_args="true"/> | ||
| <include file="$(find urab_sub_description)/launch/upload_urab_sub.launch" pass_all_args="true"/> | ||
| <include file="$(find urab_sub_thruster_manager)/launch/thruster_manager.launch"/> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| import rospy | ||
| from sensor_msgs.msg import Image | ||
| from cv_bridge import CvBridge | ||
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| class ImageListener: | ||
| """ Abstract class. Subscribes to ROS Image messages. Used for getting camera image data | ||
| from the simulator and converting it for OpenCV. """ | ||
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| def callback(self, img_msg): | ||
| bridge = CvBridge() | ||
| # Stores as a BGR array for OpenCV. | ||
| cv_image = bridge.imgmsg_to_cv2(img_msg, desired_encoding='bgr8') | ||
| self.images.append(cv_image) | ||
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| def get_images(self, time): | ||
| self.images = [] | ||
| rospy.sleep(time) # time is in seconds | ||
| return self.images | ||
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| def get_images_forever(self): | ||
| self.images = [] | ||
| rospy.spin() | ||
| return self.images | ||
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| class FrontCameraListener(ImageListener): | ||
| """ Gets image data from the front camera. """ | ||
| def __init__(self): | ||
| self.subscr = rospy.Subscriber("/urab_sub/urab_sub/camerafront/camera_image", | ||
| Image, self.callback) | ||
|
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| class UnderCameraListener(ImageListener): | ||
| """ Gets image data from the bottom camera. """ | ||
| def __init__(self): | ||
| self.subscr = rospy.Subscriber("/urab_sub/urab_sub/cameraunder/camera_image", | ||
| Image, self.callback) | ||
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| if __name__ == '__main__': | ||
| # not sure if this should be moved into the ImageListener class | ||
| rospy.init_node('img_listener', anonymous=True) | ||
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| front_listen = FrontCameraListener() | ||
| imgs = front_listen.get_images(1.0) | ||
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| print "FRONT CAMERA" | ||
| print "ImageListener.get_images() has type " + str(type(imgs)) | ||
| print "Length of image list: " + str(len(imgs)) | ||
| print "The first image has type " + str(type(imgs[0])) | ||
| print "The first image has dimensions " + str(imgs[0].shape) | ||
| print "Print out the first image:" | ||
| print imgs[0] | ||
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| under_listen = UnderCameraListener() | ||
| imgs = under_listen.get_images(1.0) | ||
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| print "\n\nBOTTOM CAMERA" | ||
| print "ImageListener.get_images() has type " + str(type(imgs)) | ||
| print "Length of image list: " + str(len(imgs)) | ||
| print "The first image has type " + str(type(imgs[0])) | ||
| print "The first image has dimensions " + str(imgs[0].shape) | ||
| print "Print out the first image:" | ||
| print imgs[0] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| import rospy | ||
| import numpy as np | ||
| import cv2 | ||
| import read_cameras | ||
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| def display_camera_images(listener, time, window_name="video"): | ||
| """Displays camera images received from an ImageListener object, which | ||
| gets video data for the specified amount of time, in seconds.""" | ||
| imgs = listener.get_images(1.0) | ||
| for frame in imgs: | ||
| cv2.imshow(window_name, frame) | ||
| # you need to hold a key to see the video progress. Press q to quit. | ||
| if cv2.waitKey(0) & 0xFF == ord('q'): | ||
| break | ||
| cv2.destroyAllWindows() | ||
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| if __name__ == '__main__': | ||
| rospy.init_node('img_listener', anonymous=True) | ||
| front_listen = read_cameras.FrontCameraListener() | ||
| display_camera_images(front_listen, 1, "front camera") |