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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 | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
rospy_wrapper | 1.0.0 |
README
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()
CONTRIBUTING
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