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Publish camera info

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This commit is contained in:
Michel Breyer 2021-04-28 11:24:51 +02:00
parent 608c871afd
commit 507a6b7f07
1 changed files with 12 additions and 5 deletions
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17
bt_sim_node.py
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@ -9,7 +9,7 @@ import rospy
import franka_gripper.msg import franka_gripper.msg
from geometry_msgs.msg import Pose from geometry_msgs.msg import Pose
from sensor_msgs.msg import JointState, Image from sensor_msgs.msg import JointState, Image, CameraInfo
import std_srvs.srv import std_srvs.srv
from robot_utils.controllers import CartesianPoseController from robot_utils.controllers import CartesianPoseController
@ -37,7 +37,11 @@ class BtSimNode:
False, False,
) )
self.joint_pub = rospy.Publisher("joint_states", JointState, queue_size=10) self.joint_pub = rospy.Publisher("joint_states", JointState, queue_size=10)
self.color_pub = rospy.Publisher("/cam/color/image_raw", Image, queue_size=10) self.cam_info_pub = rospy.Publisher(
"/cam/depth/camera_info", CameraInfo, queue_size=10
)
self.cam_info_msg = to_camera_info_msg(self.sim.camera.info)
self.cam_info_msg.header.frame_id = "cam_optical_frame"
self.depth_pub = rospy.Publisher("/cam/depth/image_raw", Image, queue_size=10) self.depth_pub = rospy.Publisher("/cam/depth/image_raw", Image, queue_size=10)
rospy.Subscriber("target", Pose, self.target_pose_cb) rospy.Subscriber("target", Pose, self.target_pose_cb)
self.step_cnt = 0 self.step_cnt = 0
@ -70,6 +74,7 @@ class BtSimNode:
if self.step_cnt % int(self.sim.rate / JOINT_PUBLISH_RATE) == 0: if self.step_cnt % int(self.sim.rate / JOINT_PUBLISH_RATE) == 0:
self.publish_joint_state() self.publish_joint_state()
if self.step_cnt % int(self.sim.rate / CAM_PUBLISH_RATE) == 0: if self.step_cnt % int(self.sim.rate / CAM_PUBLISH_RATE) == 0:
self.publish_cam_info()
self.publish_cam_imgs() self.publish_cam_imgs()
def publish_joint_state(self): def publish_joint_state(self):
@ -85,10 +90,12 @@ class BtSimNode:
msg.velocity = dq msg.velocity = dq
self.joint_pub.publish(msg) self.joint_pub.publish(msg)
def publish_cam_info(self):
self.cam_info_msg.header.stamp = rospy.Time.now()
self.cam_info_pub.publish(self.cam_info_msg)
def publish_cam_imgs(self): def publish_cam_imgs(self):
color, depth = self.sim.camera.update() _, depth = self.sim.camera.update()
color_msg = self.cv_bridge.cv2_to_imgmsg(color, encoding="rgb8")
self.color_pub.publish(color_msg)
depth_msg = self.cv_bridge.cv2_to_imgmsg(depth) depth_msg = self.cv_bridge.cv2_to_imgmsg(depth)
self.depth_pub.publish(depth_msg) self.depth_pub.publish(depth_msg)