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read raw_image compressed uint8[] data

asked 2015-07-29 09:14:06 -0500

Rosewood gravatar image

updated 2015-07-30 09:36:23 -0500

Hello everybody! I'm trying to read the datas of the "sensor_msgs/CompressedImage" message in a c++ program. Therefore I want to read the uint8[] data array. While using the callback function, nothing is happening (e.g. using ROS_INFO, when there is activity). When I'm watching the /image_raw/compressed topic, the data array is infinit. That's why I can't predefine an arraysize. Is there any possibility to get the data into a c++ code to read it separatly? Thanks

   // ROS ///////////////////////////////////////////
 ros::init(argc, argv, "talker_camera_eye");
ROS_INFO("%s", "start");
    ros::NodeHandle n;
   ros::Subscriber translation_sub = n.subscribe("wc_backdrive/camera_eye/image_raw/compressed", 1000, translateCallback);
ros::Publisher translation_pub = n.advertise<sensor_msgs::CompressedImage>("compressed_image", 1000);
  while (ros::ok())
  { 
translation_pub.publish(testmsg);
ros::spinOnce();
  }
  return 0;
}

//

void translateCallback(const sensor_msgs::CompressedImage::ConstPtr& msg)
{testmsg.data =msg->data;
//perturbedmsg.data = testmsg.data;
ROS_INFO("%s", msg->data.size());ROS_INFO( "test");
for (int i=0; i<msg->data.size();i++){
ROS_INFO( "test");
}
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Comments

You should probably post the code of your node, at least the one of the subscriber setup and the callback.

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-29 10:22:47 -0500 )edit

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answered 2015-07-30 02:45:53 -0500

updated 2015-08-01 09:59:36 -0500

Very classic problem:

 while (ros::ok())
  { 
translation_pub.publish(testmsg);
 ros::spinOnce(); ///<<< here, btw, spin does the callbacks!
  }
  //ros::spin(); //That is wrong for that purpose ... you need ros::spinOnce above....
  return 0;

Also try to delete build and devel in your workspace and build it again. Sometimes it also helps, when everything is rebuild.

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Thanks cyborg, but he's still not sending data. When I do rostopic echo/image_raw/compressed, the output is data: [255, 216, 255, 224, 0, 16, .... (never ending story) and there is no rosout "test"

Rosewood gravatar image Rosewood  ( 2015-07-30 03:34:15 -0500 )edit

Have you checked for your subscribed topic?

rostopic echo /compressed_image

Of course your output topic will be sending always. Maybe you should consider adding ros::Rate for a setable publish rate

Also check for image transport subcriber/publisher

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-30 04:37:31 -0500 )edit

What does rqt_graph say, is it connected?

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-30 04:39:42 -0500 )edit

The subscribed topic is image_raw/compressed and the output is the data array (see above). The data of my output topic is empty. Rqt says, that my talker node has subscribed for the topic. I think the problem is, that UInt8[] data is a stream.

Rosewood gravatar image Rosewood  ( 2015-07-30 08:07:03 -0500 )edit

No "test" (from your subscriber?) would either mean you still do not receive messages or if you're starting with launchfiles and forgot to add attribute output="screen" to your node or added output="log" instead. Btw ROS_INFO("test") should work as well, why the "%s"?

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-30 08:13:27 -0500 )edit

According to rqt and rosnode info the node has subscribed. I'm starting with rosrun. How would you normally get data from image_raw/compressed, respectively from the UINt8[]. And ignore the "%s"..copied from another command :), but thanks for the hint.

Rosewood gravatar image Rosewood  ( 2015-07-30 08:51:27 -0500 )edit

Can you post your current code with the changes for ros::spinOnce?

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-30 09:07:52 -0500 )edit

Btw. for the image topics it is definitely recommended to use ImageTransport -> http://wiki.ros.org/image_transport

cyborg-x1 gravatar image cyborg-x1  ( 2015-07-30 09:45:04 -0500 )edit

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Asked: 2015-07-29 09:14:06 -0500

Seen: 992 times

Last updated: Aug 01 '15