Created
February 12, 2020 13:52
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listener.py
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| import rospy | |
| from std_msgs.msg import String | |
| from std_msgs.msg import String | |
| from sensor_msgs.msg import CompressedImage | |
| import numpy as np | |
| import cv2 | |
| from cv_bridge import CvBridge | |
| def callback(data): | |
| #rospy.loginfo(rospy.get_caller_id() + 'I heard ') | |
| #print(type(data)) | |
| #c = np.fromstring(bytes(data), np.uint8) | |
| np_arr = np.fromstring(data.data, np.uint8) | |
| #br = CvBridge() | |
| #im2 = br.imgmsg_to_cv2(msg) | |
| #print(c, len(c)) | |
| image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR) | |
| resized = cv2.resize(image, (640,480)) | |
| cv2.imshow('LGSVL End-to-End Lane Following', resized) | |
| cv2.waitKey(1) | |
| def callback2(data): | |
| rospy.loginfo(rospy.get_caller_id() + 'I heard ', data) | |
| def listener(): | |
| # In ROS, nodes are uniquely named. If two nodes with the same | |
| # name are launched, the previous one is kicked off. The | |
| # anonymous=True flag means that rospy will choose a unique | |
| # name for our 'listener' node so that multiple listeners can | |
| # run simultaneously. | |
| rospy.init_node('listener', anonymous=True) | |
| subscriber = rospy.Subscriber('/simulator/camera_node/image/compressed', CompressedImage, callback) | |
| subscriber = rospy.Subscriber('/odom', String, callback2) | |
| # spin() simply keeps python from exiting until this node is stopped | |
| rospy.spin() | |
| if __name__ == '__main__': | |
| listener() |
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