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Refactor + more versatile code. #2

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Refactor + more versatile code. #2

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39 changes: 0 additions & 39 deletions src/image_publisher.py
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14 changes: 9 additions & 5 deletions src/image_publisher_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,13 @@
from cv_bridge import CvBridge, CvBridgeError
from sensor_msgs.msg import Image


class camera_publisher:

def __init__(self):
def __init__(self, topic):
"""Initialize the class
"""
self.image_pub = rospy.Publisher("image_raw", Image, queue_size=10)
self.image_pub = rospy.Publisher(topic, Image, queue_size=10)
self.bridge = CvBridge()
self.capture = cv2.VideoCapture(rospy.get_param("my_webcam/camera_name"))

Expand All @@ -21,7 +22,7 @@ def publish_image(self):
# Capture a frame
ret, img = self.capture.read()
if not ret:
rospy.ERROR("Could not grab a frame!")
rospy.logerr("Could not grab a frame!")
break

# Publish the image to the topic image_raw
Expand All @@ -34,9 +35,12 @@ def publish_image(self):


if __name__=="__main__":
cam_pub = camera_publisher()
topic = input("Enter the topic name to publish the image: ")
if not topic:
topic = "image_raw"
cam_pub = camera_publisher(topic)
rospy.init_node("my_cam", anonymous=True)
print("Image is being published to the topic image_raw...")
print(f"Image is being published to the topic {topic}...")
cam_pub.publish_image()

try:
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