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测试视觉抓取，修改部分配置

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This commit is contained in:
david
2025-11-21 09:38:39 +08:00
parent 080af2f7fa
commit 8fd31fb584
4 changed files with 13 additions and 10 deletions
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14
img_dev/launch/img_dev.launch.py
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@@ -17,12 +17,12 @@ def generate_launch_description():
# 等待一段时间确保相机启动完成
# 启动img_dev_node
# Node(
# package='img_dev',
# executable='img_dev_node',
# name='img_dev_node',
# output='screen',
# parameters=[]
# )
Node(
package='img_dev',
executable='img_dev_node',
name='img_dev_node',
output='screen',
parameters=[]
)
])

2
img_dev/src/img_dev_node.cpp
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@@ -23,7 +23,7 @@ void ImageSubscriber::pub_msg(const sensor_msgs::msg::Image& c_img,const sensor_
img_pub->publish(*img_msg);
// pub_cnt+=1;
// std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->image_color.width<<"x"<<img_msg->image_color.height<<";"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
std::cout<<"pub msg["<<pub_cnt<<"]:"<<img_msg->image_color.width<<"x"<<img_msg->image_color.height<<";"<<img_msg->darr[0]<<","<<img_msg->darr[1]<<",k:"<<img_msg->karr[0]<<","<<img_msg->karr[1]<<std::endl;
}
}

4
img_dev/src/main.cpp
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@@ -16,9 +16,9 @@ using namespace img_dev;
using SyncPolicy=message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image,sensor_msgs::msg::Image>;
static shared_ptr<ImageSubscriber> cur_node=nullptr;
ImgCfg cfg0=ImgCfg("orbbec", "myType","left","/camera/color/image_raw","/camera/depth/image_raw");
ImgCfg cfg1=ImgCfg("orbbec", "myType","right","/camera_02/color/image_raw","/camera_02/depth/image_raw");
ImgCfg cfg1=ImgCfg("orbbec", "myType","top","/camera_02/color/image_raw","/camera_02/depth/image_raw");
//
ImgCfg cfg2=ImgCfg("realsense", "myType","hand_l","/camera/camera/rgbd","/camera/camera/rgbd");
ImgCfg cfg2=ImgCfg("realsense", "myType","right","/camera/camera/rgbd","/camera/camera/rgbd");
ImgCfg cfg3=ImgCfg("realsense", "myType","hand_r","/camera2/camera2/rgbd","/camera2/camera2/rgbd");
void sync_cb0(const sensor_msgs::msg::Image& c_img, const sensor_msgs::msg::Image& d_img) {
cur_node->pub_msg(c_img,d_img,cfg0);