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image_transport_py package from image_common repocamera_calibration_parsers camera_info_manager image_common image_transport image_transport_py polled_camera |
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Package Summary
| Tags | No category tags. |
| Version | 6.0.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ros-perception/image_common.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2024-10-10 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Alejandro Hernández
- John D'Angelo
Authors
- Tamas Foldi
image_transport_py: Python Bindings for ROS 2 Image Transport
Introduction
image_transport_py is a Python package that provides bindings for image_transport. It enables efficient publishing and subscribing of images in Python, leveraging various transport plugins (e.g., raw, compressed).
The package allows developers to handle image topics more efficiently and with less overhead than using standard ROS 2 topics.
Usage
The detailed tutorial on image_transport and image_transport_py can be found at: https://github.com/ros-perception/image_transport_tutorials.
Classes
Publisher
A publisher for images.
Methods
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get_topic()Returns the base image topic.
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get_num_subscribers()Returns the number of subscribers this publisher is connected to.
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shutdown()Unsubscribe the callback associated with this Publisher.
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publish(img)Publish an image on the topics associated with this Publisher.
CameraPublisher
A publisher for images with camera info.
Methods
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get_topic()Returns the base (image) topic of this CameraPublisher.
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get_num_subscribers()Returns the number of subscribers this camera publisher is connected to.
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shutdown()Unsubscribe the callback associated with this CameraPublisher.
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publish(img, info)Publish an image and camera info on the topics associated with this Publisher.
ImageTransport
An object for image transport operations.
Constructor
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__init__(node_name, image_transport="", launch_params_filepath="")Initialize an ImageTransport object with its node name,
image_transportand launch params file path. If noimage_transportspecified, the defaultrawplugin will be initialized.
Methods
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advertise(base_topic, queue_size, latch=False)Advertise an image topic.
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advertise_camera(base_topic, queue_size, latch=False)Advertise an image topic with camera info.
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subscribe(base_topic, queue_size, callback)Subscribe to an image topic.
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subscribe_camera(base_topic, queue_size, callback)Subscribe to an image topic with camera info.
Subscriber
A subscriber for images.
Methods
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get_topic()Returns the base image topic.
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get_num_publishers()Returns the number of publishers this subscriber is connected to.
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get_transport()Returns the name of the transport being used.
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shutdown()Unsubscribe the callback associated with this Subscriber.
CameraSubscriber
A subscriber for images with camera info.
Methods
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get_topic()Returns the base image topic.
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get_num_publishers()Returns the number of publishers this subscriber is connected to.
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get_transport()Returns the name of the transport being used.
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shutdown()Unsubscribe the callback associated with this CameraSubscriber.
Changelog for package image_transport_py
6.0.1 (2024-10-10)
- feat: python bindings for image_transport and publish (#323) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
- Contributors: Földi Tamás
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| pybind11_vendor | |
| ament_cmake_ros | |
| ament_cmake_python | |
| rpyutils | |
| ament_lint_auto | |
| ament_lint_common | |
| image_transport | |
| rclcpp | |
| sensor_msgs |