ros编写发布/接收图片的结点(Python)

这里还是直接提供代码把。
首先，我在test_py包下的msg文件内有个Image.msg文件，内容与sensor_msgs/Image.msg一样。
Image.msg

Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data

然后我的package文件如下:

  test_py
  0.0.0
  The test_py package

  smile

  TODO

  catkin

  rospy
  std_msgs
  cv_bridge
  sensor_msgs
  message_generation

  rospy
  std_msgs
  cv_bridge
  sensor_msgs
  message_runtime

我的CMakeLists.txt文件代码如下:

cmake_minimum_required(VERSION 2.8.3)
project(test_py)

find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  cv_bridge
  sensor_msgs
  message_generation
)

add_message_files(
  FILES
  test.msg
  Image.msg
)

generate_messages(
  DEPENDENCIES
  test_py
  sensor_msgs
)

catkin_package(
#INCLUDE_DIRS include
#LIBRARIES test_py
CATKIN_DEPENDS rospy cv_bridge message_runtime
DEPENDS system_lib
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

我的发布图片结点信息如下:

#!/usr/bin/env python
#coding:utf-8

import rospy
import sys
sys.path.append('.')
import cv2
import os
import numpy as np
from test_py.msg import Image
from cv_bridge import CvBridge, CvBridgeError

def pubImage():
    rospy.init_node('pubImage',anonymous = True)
    pub = rospy.Publisher('ShowImage', Image, queue_size = 10)
    rate = rospy.Rate(10)
    bridge = CvBridge()
    gt_imdb = []
    #path是我存放图片的文件夹
    path = "../../../../test"
    for item in os.listdir(path):
        gt_imdb.append(os.path.join(path,item))
    while not rospy.is_shutdown():
        for imagepath in gt_imdb:
            image = cv2.imread(imagepath)
            image = cv2.resize(image,(900,450))
            pub.publish(bridge.cv2_to_imgmsg(image,"bgr8"))
            #cv2.imshow("lala",image)
            #cv2.waitKey(0)
            rate.sleep()

if __name__ == '__main__':
    try:
        pubImage()
    except rospy.ROSInterruptException:
        pass

我的接收图片结点代码如下:

#!/usr/bin/env python
#coding:utf-8

import rospy
import cv2
from test_py.msg import Image
from cv_bridge import CvBridge,CvBridgeError

def callback(data):
    bridge = CvBridge()
    cv_image = bridge.imgmsg_to_cv2(data,"bgr8")
    cv2.imshow("lala",cv_image)
    cv2.waitKey(0)

def showImage():
    rospy.init_node('showImage',anonymous = True)
    rospy.Subscriber('ShowImage', Image, callback)
    rospy.spin()

if __name__ == '__main__':
    showImage()

这里注释就不给了，感觉都是能一眼就知道是干吗的代码。
请原谅我是个懒惰的博主，然后有写的不好或者不对的地方，欢迎提出批评指正。