亚博microros小车-原生ubuntu支持系列：2-摄像头控制
本篇继续迁移亚博microros小车的图传模块。
一 图传代理启动
启动脚本：
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host microros/micro-ros-agent:humble udp4 --port 9999 -v4小车连上后
二 显示图像代码
src/yahboom_esp32_camera/yahboom_esp32_camera/目录下新建文件sub_img.py
代码如下：
import rclpy
import time
from rclpy.node import Node
import cv2 as cv
from cv_bridge import CvBridge
from sensor_msgs.msg import Image, CompressedImage
from rclpy.time import Time
import datetime
class SubImg(Node):
def __init__(self, name):
super().__init__(name)
self.bridge = CvBridge()
#订阅图传模块图像话题，其中hanleTopic是回调函数
self.sub_img = self.create_subscription(
CompressedImage, '/espRos/esp32camera', self.handleTopic, 1)
self.pub_img = self.create_publisher(Image, "/esp32_img", 1)
self.last_stamp = None
self.new_seconds = 0
self.fps_seconds = 1
def handleTopic(self, msg):
self.last_stamp = msg.header.stamp
if self.last_stamp:#时间处理
total_secs = Time(nanoseconds=self.last_stamp.nanosec, seconds=self.last_stamp.sec).nanoseconds
delta = datetime.timedelta(seconds=total_secs * 1e-9)
seconds = delta.total_seconds()*100
if self.new_seconds != 0:
self.fps_seconds = seconds - self.new_seconds
self.new_seconds = seconds#保留这次的值
#print(self.fps_seconds)
start = time.time()
#图像类型转换
frame = self.bridge.compressed_imgmsg_to_cv2(msg)
# print(frame)
frame = cv.resize(frame, (640, 480))
cv.waitKey(10)
end = time.time()
#print(self.fps_seconds)
fps = 1/((end - start)+self.fps_seconds)
text = "FPS : " + str(int(fps))
cv.putText(frame, text, (30, 30), cv.FONT_HERSHEY_SIMPLEX,
0.6, (100, 200, 200), 1)#显示fps
# msg = self.bridge.cv2_to_imgmsg(frame, "bgr8")
cv.imshow("color_image", frame)
img_msg = self.bridge.cv2_to_imgmsg(frame, 'bgr8')#把图像解析为bgr8格式，也是opencv的默认图像格式
self.pub_img.publish(img_msg)#发布图像话题
cv.waitKey(10)
def main():
rclpy.init()
esp_img = SubImg("sub_img")
try:
rclpy.spin(esp_img)
except KeyboardInterrupt:
pass
finally:
esp_img.destroy_node()
rclpy.shutdown()
主要逻辑就是订阅摄像头的话题，用opencv做图像转换并再次发布图像。
构建后运行 : ros2 run yahboom_esp32_camera sub_img
看下这个节点信息
bohu@bohu-TM1701:~$ ros2 node info /espRos/Esp32Node
/espRos/Esp32Node
Subscribers:
Publishers:
/espRos/esp32camera: sensor_msgs/msg/CompressedImage
Service Servers:
Service Clients:
Action Servers:
Action Clients:
它就是提供了压缩图像的发布话题。接口是:sensor_msgs/msg/CompressedImage
处理消息的格式
三 摄像头画面倒置
调用亚博官方的调整脚本， SET_Camera.py
import socket
import time
staip = "192.168.2.93" #填写开启dotcker后信息的ip地址
PORT = 8888
vflip_OFF = "@vflip:0@" #不倒转
vflip_OPEN = "@vflip:1@" #倒转
mirror_OFF = "@mirror:0@" #不开启水平镜像
mirror_OPEN = "@mirror:1@" #开启水平镜像
def set_Camera(vflip_flag,mirror_flag):
if vflip_flag == True:
send_data = vflip_OPEN
sk.sendall(bytes(send_data, encoding="utf8"))
elif vflip_flag == False:
send_data = vflip_OFF
sk.sendall(bytes(send_data, encoding="utf8"))
time.sleep(1)
if mirror_flag == True:
send_data = mirror_OPEN
sk.sendall(bytes(send_data, encoding="utf8"))
elif mirror_flag == False:
send_data = mirror_OFF
sk.sendall(bytes(send_data, encoding="utf8"))
print("please input docket ipV4:")
staip = input()
sk = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# 连接服务器 socket tcp
try:
sk.connect((staip,PORT))
set_Camera(True,True) #反转画面
#set_Camera(False,False) #不反转画面
print("Camera is set ok!")
sk.close()
except KeyboardInterrupt:
sk.close()
except Exception as e:
print("Camera is set fail!")
print("Program Error:", Exception)
sk.close()
注意传的IP不是小车的IP，是启动图传代理之后链接的docker IP
原文地址：https://blog.csdn.net/bohu83/article/details/145276237
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