image_source

ROS nodelets to convert a local image file to a message

Nodelet: ImageFiles

• publish image message from local image files

Published topics

image_out (sensor_msgs/Image)

Services

publish (std_srvs/Empty)

• publish the next image by a call
• never advertised unless ~publish_by_call is true

Parameters

~loop (bool, default: false)

• loop publishment if true

~files (string[][2 or 3], default: <empty array>)

• array of pairs of directory path and filename regular expression
• optionally image encoding to be published can be specified (default is "bgr8")

~recursive (bool, default: false)

• recursively search images if true

~frame_id (string, default: "")

• frame_id of published images

~publish_by_call (bool, default: false)

• publish by call or by timer

~rate (double, default: 1.0)

• publish rate of the timer

Nodelet: VideoFile

• publish image messages from a local video file

Published topics

image_out (sensor_msgs/Image)

Services

publish (std_srvs/Empty)

• publish the next image by a call
• never advertised unless ~publish_by_call is true

Parameters

~loop (bool, default: false)

• loop publishment if true

~file (string, default: "")

• path to video file

~frame_id (string, default: "")

• frame_id of image messages

~encoding (string, default: "bgr8")

• encoding of image messages

~publish_by_call (bool, default: false)

• publish by call or by timer

~playback_speed (double, default: 1.0)

• playback speed of video to set rate of timer

Nodelet: CameraInfo

• publish camera calibration info synchronizing image messages
• requires full description of the published camera info

Subscribed topics

image_in (sensor_msgs/Image)

Published topics

camera_info (sensor_msgs/CameraInfo)

• the stamp of a message is copied from that of the subscribed image

Services

set_camera_info (sensor_msgs/SetCameraInfo)

Parameters

~camera_name (string, default: "camera")

• camera name used to load camera info

~camera_info_url (string, default: "")

• camera info on startup
• see docs of camera_info_manager for url syntax
• standard path will be searched if empty string is given

~frame_id (string, default: "")

• frame id of published camera info

Nodelet: AutoCameraInfo

• publish camera calibration info synchronizing image messages
• requires only camera's field of view

Subscribed topics

image_in (sensor_msgs/Image)

Published topics

camera_info (sensor_msgs/CameraInfo)

• the stamp of a message is copied from that of the subscribed image

Parameters

~frame_id (string, default: "")

• frame id of published camera info

~fov (double, required if ~fov_x or ~fov_y is not set)

• camera's diagonal field of view in radians

~fov_x, ~fov_y (double, optional)

• camera's horizontal or vertical field of view in radians

Examples

see launch/test_*.launch