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lucasw/ros1_notes.md

Created December 16, 2019 15:14
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Short scripts and one liners for ros1
@lucasw
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lucasw commented Dec 16, 2019 •
edited

Publish a small sensor_msgs Image from the command line

rostopic pub /image sensor_msgs/Image "{header: {seq: 0, stamp: now, frame_id: 'map'}, height: 8, width: 8, encoding: 'mono8', is_bigendian: 0, step: 8, data: '00000f00000000000000000f0000000000000000000000000000000000000000'}" -r 2

To make a custom image, make an 8x8 image in Gimp then export as png.
Then get the data string:

rosrun image_publisher image_publisher test.png __name:=image
rostopic echo /image/image_raw

header: 
  seq: 100
  stamp: 
    secs: 1576515370
    nsecs: 577321503
  frame_id: "camera"
height: 8
width: 8
encoding: "bgr8"
is_bigendian: 0
step: 24
data: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 255, 255, 255, 0, 0, 0, 255, 255, 255, 178, 178, 178, 255, 255, 255, 54, 54, 54, 255, 255, 255, 255, 255, 255, 255, 255, 255, 0, 0, 0, 255, 255, 255, 18, 18, 18, 255, 255, 255, 54, 54, 54, 182, 182, 182, 255, 255, 255, 255, 255, 255, 18, 18, 18, 255, 255, 255, 255, 255, 255, 255, 255, 255, 54, 54, 54, 242, 242, 242, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]

rostopic pub /image sensor_msgs/Image "{header: {seq: 0, stamp: now, frame_id: 'map'}, height: 8, width: 8, encoding: 'bgr8', is_bigendian: 0, step: 24, data: [255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 255, 255, 255, 0, 0, 0, 255, 255, 255, 178, 178, 178, 255, 255, 255, 54, 54, 54, 255, 255, 255, 255, 255, 255, 255, 255, 255, 0, 0, 0, 255, 255, 255, 18, 18, 18, 255, 255, 255, 54, 54, 54, 182, 182, 182, 255, 255, 255, 255, 255, 255, 18, 18, 18, 255, 255, 255, 255, 255, 255, 255, 255, 255, 54, 54, 54, 242, 242, 242, 255, 255, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255]}" -r 2

There ought to be a way to use command line tools to convert a binary image to a long string- first convert test.png test.bin` and then something to convert binary to a string rostopic pub likes, but xxd will print hex, while rostopic pub doesn't use that.

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