No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
|
rospy_wrapper package from rospy_wrapper reporospy_wrapper |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | MIT |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/sean-hackett/rospy_wrapper.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2019-10-27 |
| Dev Status | UNMAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The rospy_wrapper package
Additional Links
Maintainers
- Sean Hackett
Authors
No additional authors.
rospy_wrapper
A package that allows easy interchanging of ROS topics, rosbags, and other sources of and sinks for data.
Note: To use TopicSource or TopicSink, there must have been a previous call to rospy.init_node().
Usage
Instantiate a topic source
from rospywrapper import TopicSource
from sensor_msgs.msg import Image
source = TopicSource(
topic='/camera/image',
data_class=Image)
Instantiate a rosbag source
from rospywrapper import BagSource
source = BagSource(
topic='/camera/image',
pathname='input.bag')
Use a source to show images
import cv2
import numpy as np
with source:
for msg, t in source:
data = np.fromstring(msg['data'], np.uint8)
img = cv2.imdecode(data, cv2.CV_LOAD_IMAGE_COLOR)
cv2.imshow(img)
cv2.waitKey(2)
Instantiate and use a topic sink
from rospywrapper import TopicSink
sink = TopicSink(
topic='/camera/gray',
data_class=Image)
with sink:
# Use sink
Instantiate and use a bag sink
import rosbag
from rospywrapper import BagSink
bag = rosbag.Bag('out.bag', 'w')
sink = BagSink(
bag=bag,
topic='/camera/image',
data_class=Image)
with bag:
with sink:
# Use sink
Write from source to sink
import conditional
if use_bag:
source = BagSource('in.bag', '/camera/image')
bag = rosbag.Bag('out.bag', 'w')
sink = BagSink(bag, '/camera/gray', Image)
else:
source = TopicSource('/camera/image', Image)
bag = None
sink = TopicSink('/camera/gray', Image)
with conditional(bag is not None, bag):
with source, sink:
for msg, t in source:
data = np.fromstring(msg['data'], np.uint8)
img = cv2.imdecode(data, cv2.CV_LOAD_IMAGE_COLOR)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
sink.put(gray, t)
Create a custom source
import cv2
import rospy
from rospywrapper import Source
class VideoFileSource(Source):
def __init__(self, filename, start_time=0):
self.filename = filename
self.time = start_time
self.step = None
def __enter__(self):
self.video = cv2.VideoCapture(self.filename)
fps = self.video.get(cv2.CAP_PROP_FPS)
self.step = 1./fps
return self
def __exit__(self, *exc):
self.video.release()
def __iter__(self):
return self
def next(self):
if not self.video.isOpened():
raise StopIteration
_, frame = self.video.read()
t = self.time
self.time += self.step
return frame, rospy.Time.from_sec(t)
Create a custom sink
from rospywrapper import Sink
import csv
class CSVSink(Sink):
def __init__(self, filename):
self.filename = filename
self._file = None
self._writer = None
def put(self, topic, data_class, data, t):
row = [t] + [data[key] for key in data]
self._writer.writerow(row)
def __enter__(self):
self._file = open(self.filename, 'w')
self._writer = csv.writer(self.file)
return self
def __exit__(self, *exc):
self._file.close()
CHANGELOG
Changelog for package rospy_wrapper
1.0.0 (2019-07-24)
- first public release of rospy_wrapper
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged rospy_wrapper at Robotics Stack Exchange
No version for distro melodic. Known supported distros are highlighted in the buttons above.