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micahpearlmanmicahpearlman
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fixed ros image publisher. TODO: add camera info.
started stereo camera
1 parent 1a5bfca commit d368691

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-35
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+1319
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‎Runtime/Scripts/ROS/MessageTypes/Std/ZOROSStdMessages.cs‎

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@@ -68,8 +68,6 @@ public class HeaderMessage : ZOROSMessageInterface {
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// time-handling sugar is provided by the client library
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public TimeMessage stamp { get; set; }
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// Frame this data is associated with
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// 0: no frame
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// 1: global frame
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public string frame_id { get; set; }
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public HeaderMessage() {

‎Runtime/Scripts/ROS/Unity/Publishers/ZOROSImagePublisher.cs‎

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@@ -10,6 +10,7 @@ namespace ZO.ROS.Publisher {
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/// <summary>
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/// Publish /sensor/Image message.
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/// See: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html
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/// To test run: `rosrun image_view image_view image:=/unity_image/image _image_transport:=raw`
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/// </summary>
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public class ZOROSImagePublisher : ZOROSUnityGameObjectBase, ZOSerializationInterface {
@@ -57,7 +58,25 @@ public override void OnROSBridgeDisconnected(ZOROSUnityManager rosUnityManager)
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ROSBridgeConnection.UnAdvertise(ROSTopic);
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}
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/// <summary>
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/// Publishes raw camera RBG8 data as a ROS Image message.
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/// See: http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Image.html
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/// </summary>
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/// <param name="rgbCamera">The camera component</param>
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/// <param name="cameraId">Camera ID</param>
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/// <param name="width">Frame width</param>
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/// <param name="height">Frame height</param>
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/// <param name="rgbData">Raw RBG8 data </param>
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/// <returns></returns>
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private Task OnPublishRGBImageDelegate(ZORGBCamera rgbCamera, string cameraId, int width, int height, byte[] rgbData) {
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ZOROSTransformPublisher transformPublisher = GetComponent<ZOROSTransformPublisher>();
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if (transformPublisher != null) {
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_rosImageMessage.header.frame_id = transformPublisher.ChildFrameID;
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} else {
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_rosImageMessage.header.frame_id = Name;
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}
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_rosImageMessage.header.Update();
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_rosImageMessage.height = (uint)height;
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_rosImageMessage.width = (uint)width;

‎Runtime/Scripts/Sensors/StereoCamera.meta‎

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‎Runtime/Scripts/Sensors/StereoCamera/ROSStereoCamera.prefab.meta‎

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