image_transport_py package from image_common repocamera_calibration_parsers camera_info_manager camera_info_manager_py image_common image_transport image_transport_py polled_camera |
|
Package Summary
Tags | No category tags. |
Version | 6.0.3 |
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 | 2024-12-10 |
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
-
get_topic()
Returns the base image topic.
-
get_num_subscribers()
Returns the number of subscribers this publisher is connected to.
-
shutdown()
Unsubscribe the callback associated with this Publisher.
-
publish(img)
Publish an image on the topics associated with this Publisher.
CameraPublisher
A publisher for images with camera info.
Methods
-
get_topic()
Returns the base (image) topic of this CameraPublisher.
-
get_num_subscribers()
Returns the number of subscribers this camera publisher is connected to.
-
shutdown()
Unsubscribe the callback associated with this CameraPublisher.
-
publish(img, info)
Publish an image and camera info on the topics associated with this Publisher.
ImageTransport
An object for image transport operations.
Constructor
-
__init__(node_name, image_transport="", launch_params_filepath="")
Initialize an ImageTransport object with its node name,
image_transport
and launch params file path. If noimage_transport
specified, the defaultraw
plugin will be initialized.
Methods
-
advertise(base_topic, queue_size, latch=False)
Advertise an image topic.
-
advertise_camera(base_topic, queue_size, latch=False)
Advertise an image topic with camera info.
-
subscribe(base_topic, queue_size, callback)
Subscribe to an image topic.
-
subscribe_camera(base_topic, queue_size, callback)
Subscribe to an image topic with camera info.
Subscriber
A subscriber for images.
Methods
-
get_topic()
Returns the base image topic.
-
get_num_publishers()
Returns the number of publishers this subscriber is connected to.
-
get_transport()
Returns the name of the transport being used.
-
shutdown()
Unsubscribe the callback associated with this Subscriber.
CameraSubscriber
A subscriber for images with camera info.
Methods
-
get_topic()
Returns the base image topic.
-
get_num_publishers()
Returns the number of publishers this subscriber is connected to.
-
get_transport()
Returns the name of the transport being used.
-
shutdown()
Unsubscribe the callback associated with this CameraSubscriber.
Changelog for package image_transport_py
6.0.3 (2024-11-25)
6.0.2 (2024-11-25)
- Add in python3-dev build dependency (#334)
- Contributors: Chris Lalancette
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 |
System Dependencies
Name |
---|
python3-dev |