Skip to content

Instantly share code, notes, and snippets.

@alexkutsan
Created February 12, 2020 13:52
Show Gist options
  • Save alexkutsan/f8f254d117fed7beaa1eee6456597ac6 to your computer and use it in GitHub Desktop.
Save alexkutsan/f8f254d117fed7beaa1eee6456597ac6 to your computer and use it in GitHub Desktop.
listener.py
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()
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment