/torso_front_camera/depth/image_rect_raw/*

Caution

This documentation page has been auto-generated.

It may be missing some details.

/torso_front_camera/depth/image_rect_raw/* Quick Facts

Category

ARI hardware

Message type

sensor_msgs/Image

Direction

➡️ you normally subscribe to this topic.

Rectified depth image

PUBLISHERS

• torso_front_camera-realsense2_camera_manager

Quick snippets

Check the publication rate

$ rostopic hz /torso_front_camera/depth/image_rect_raw/*

Display the data published on the topic

$ rostopic echo /torso_front_camera/depth/image_rect_raw/*

How to use in your code

Subscribe to the topic using Python

import rospy
from sensor_msgs.msg import Image

def on_data(msg):

   # see http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html
   # for the msg structure
   print(msg)

if __name__ == "__main__":

  rospy.init_node("subscriber")

  rospy.Subscriber("/torso_front_camera/depth/image_rect_raw/*", Image, on_data)

  rospy.spin()

Subscribe to the topic using C++

#include <ros/ros.h>
#include <sensor_msgs/Image.h>

void on_data(const sensor_msgs::Image::ConstPrt& msg)
{
   // see http://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html
   // for the msg structure
   ROS_INFO_STREAM("Got " << msg);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "subscriber");
  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("/torso_front_camera/depth/image_rect_raw/*", 10, on_data);

  ros::spin();
  return 0;
}