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successfully published rgb image

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0nhc 2024-10-13 00:08:30 -05:00
parent 5deca92c83
commit f36934292b
1 changed files with 7 additions and 1 deletions
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8
scripts/bt_sim_node.py
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@ -323,6 +323,8 @@ class CameraPlugin(Plugin):
self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10) self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10)
topic = self.name + "/depth/image_rect_raw" topic = self.name + "/depth/image_rect_raw"
self.depth_pub = rospy.Publisher(topic, Image, queue_size=10) self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
topic = self.name + "/color/image_rect_raw"
self.rgb_pub = rospy.Publisher(topic, Image, queue_size=10)
def update(self): def update(self):
stamp = rospy.Time.now() stamp = rospy.Time.now()
@ -332,7 +334,7 @@ class CameraPlugin(Plugin):
msg.header.stamp = stamp msg.header.stamp = stamp
self.info_pub.publish(msg) self.info_pub.publish(msg)
_, depth, _ = self.camera.get_image() color, depth, mask = self.camera.get_image()
if self.cam_noise: if self.cam_noise:
depth = apply_noise(depth) depth = apply_noise(depth)
@ -341,6 +343,10 @@ class CameraPlugin(Plugin):
msg.header.stamp = stamp msg.header.stamp = stamp
self.depth_pub.publish(msg) self.depth_pub.publish(msg)
msg = self.cv_bridge.cv2_to_imgmsg((color).astype(np.uint8), encoding='rgb8')
msg.header.stamp = stamp
self.rgb_pub.publish(msg)
class MockActionsPlugin(Plugin): class MockActionsPlugin(Plugin):
def __init__(self): def __init__(self):