Publish static image topic¶
You may need image topics to try recognition nodes/nodelets in jsk_perception, and this tutorial shows how to create image topic easily.
Step by step¶
For this purpose, you can use image_publisher.py.
$ rosrun jsk_perception image_publisher.py \ _file_name:=$(rospack find jsk_perception)/sample/kiva_pod_image_color.jpg _rate:=30
_rate:=... is remapping of rosparam and
you can get the value with:
$ rosparam get /image_publisher/file_name /home/wkentaro/Projects/jsk/src/jsk-ros-pkg/jsk_recognition/jsk_perception/sample/kiva_pod_image_color.jpg $ rosparam get /image_publisher/rate 30
The image is published to topic
/image_publisher/output, so you can
see it by:
$ rosrun image_view image_view image:=/image_publisher/output
image:=... is remaping of topic, and the
/image_publisher/output in this case.
The result is as shown below:
A single command¶
You can run upper programs in a single command with writing roslaunch file:
$ # emacs tutorial_image_publisher.launch $ vim tutorial_image_publisher.launch
Or you can download the file from:
<launch> <node name="image_publisher" pkg="jsk_perception" type="image_publisher.py"> <!-- <param name="file_name" value="$(find jsk_perception)/sample/kiva_pod_image_color.jpg" type="str" /> <param name="rate" value="30" type="int" /> Below also works. See http://wiki.ros.org/roslaunch/XML/param and http://wiki.ros.org/roslaunch/XML/rosparam for detail. --> <rosparam subst_value="true"> file_name: $(find jsk_perception)/sample/kiva_pod_image_color.jpg rate: 30 </rosparam> </node> <node name="image_view" pkg="image_view" type="image_view"> <!-- <remap from="image" to="/image_publisher/output" /> Below works because image_publisher and image_view is in the same namespace. See http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20tips%20for%20larger%20projects for detail. --> <remap from="image" to="image_publisher/output" /> </node> </launch>
You can launch the roslaunch file by:
$ roslaunch ./tutorial_image_publisher.launch