A self-contained python script publish_images.py for publishing color or depth images from a folder to ROS topic.
For a fast unit test, run: bash run_test_case.sh
cd ~/catkin_ws/src
git clone https://github.com/felixchenfy/ros_images_publisher
cd ros_images_publisher
chmod a+x publish_images.py$ rosrun ros_images_publisher publish_images.py -h
usage: publish_images.py [-h] -i IMAGES_FOLDER [-c CAMERA_INFO_FILE]
[-t TOPIC_NAME] [-r PUBLISH_RATE] [-f {color,depth}]
Publish color or depth images from a folder to ROS topic.
optional arguments:
-h, --help show this help message and exit
-i IMAGES_FOLDER, --images_folder IMAGES_FOLDER
A data folder which contains .jpg or .png images for
publishing. (default: /home/feiyu/catkin_ws/src/ros_im
ages_publisher/data/color/)
-c CAMERA_INFO_FILE, --camera_info_file CAMERA_INFO_FILE
File path of camera parameters. No distortion.
(default: /home/feiyu/catkin_ws/src/ros_images_publish
er/data/cam_params_realsense.json)
-t TOPIC_NAME, --topic_name TOPIC_NAME
ROS topic name to publish image. (default:
test_data/image_raw)
-r PUBLISH_RATE, --publish_rate PUBLISH_RATE
How many images to publish per second. (default: 1.0)
-f {color,depth}, --format {color,depth}
Format of image: color (uint8, 3 channels), or depth
(uint16, 1 channel). (default: color)
publish_color_images(){
roscd ros_images_publisher; ROOT=$PWD
rosrun ros_images_publisher publish_images.py \
--images_folder $ROOT/data/color/ \
--topic_name test_data/color \
--camera_info_file $ROOT/data/cam_params_realsense.json
}
publish_depth_images(){
roscd ros_images_publisher; ROOT=$PWD
rosrun ros_images_publisher publish_images.py \
--images_folder $ROOT/data/depth/ \
--topic_name test_data/depth \
--camera_info_file "" \
--format depth
}
set_camera_at_origin(){
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map head_camera 10
}
run_rviz(){
roscd ros_images_publisher; ROOT=$PWD
rosrun rviz rviz -d $ROOT/rviz_for_color_and_depth_images.rviz
}
# https://stackoverflow.com/questions/3004811/how-do-you-run-multiple-programs-in-parallel-from-a-bash-script
# Run above 4 functions in parallel:
(trap 'kill 0' SIGINT; publish_color_images & publish_depth_images & set_camera_at_origin & run_rviz)
The result is shown below:
