[英]Why Rospy does not work ros2 python environment?
在python虛擬環境下,無法導入rospy。 為什么? 我需要它來發布和訂閱 image_raw。
使用ros2
,您必須使用rclpy
而不是rospy
。 rospy
不再存在ros2
,因此您也無法導入它。 rclpy
是建立在 ros2' rcl
之上的新客戶端庫。 請參閱此處了解更多信息。
一般來說, ros2
有大量的演示和教程,請參閱此處獲取簡單的訂閱者/發布者教程。
這也是一個如何訂閱和發布圖像主題的快速示例:
#! /usr/bin/env python3
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image
class SimplePubSub(Node):
def __init__(self):
super().__init__('simple_pub_sub')
self.publisher = self.create_publisher(Image, '/image_processed', 10)
self.subscription = self.create_subscription(
Image, '/image_raw', self.img_callback, 10)
def img_callback(self, msg):
self.get_logger().info('processing image....')
# msg = ......
self.publisher.publish(msg)
def main(args=None):
rclpy.init(args=args)
simple_pub_sub = SimplePubSub()
rclpy.spin(simple_pub_sub)
simple_pub_sub.destroy_node()
rclpy.shutdown()
#! /usr/bin/env python3
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import cv2
class SimplePubSub(Node):
def __init__(self):
super().__init__('simple_pub_sub')
topic_name= 'video_frames'
self.publisher_ = self.create_publisher(Image, topic_name , 10)
self.timer = self.create_timer(0.1, self.timer_callback)
self.cap = cv2.VideoCapture(0)
self.br = CvBridge()
self.subscription = self.create_subscription(Image, topic_name, self.img_callback, 10)
self.subscription
self.br = CvBridge()
def timer_callback(self):
ret, frame = self.cap.read()
if ret == True:
self.publisher_.publish(self.br.cv2_to_imgmsg(frame))
self.get_logger().info('Publishing video frame')
def img_callback(self, data):
self.get_logger().info('Receiving video frame')
current_frame = self.br.imgmsg_to_cv2(data)
cv2.imshow("camera", current_frame)
cv2.waitKey(1)
def main(args=None):
rclpy.init(args=args)
simple_pub_sub = SimplePubSub()
rclpy.spin(simple_pub_sub)
simple_pub_sub.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
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