image_raw`#

Caution

This documentation page has been auto-generated.

It may be missing some details.

/xtion/rgb/image_raw Quick Facts

Category: ⚙️ Robots hardware
Message type: sensor_msgs/msg/Image
Direction: ➡️ you normally subscribe to this topic.

RGB image.

Quick snippets#

Check the publication rate#

$ ros2 topic hz /xtion/rgb/image_raw

Display the data published on the topic#

$ ros2 topic echo /xtion/rgb/image_raw

How to use in your code#

Subscribe to the topic using Python#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from sensor_msgs.msg import Image


class ImageRawSubscriber(Node):

    def __init__(self):
        super().__init__('xtion_rgb_image_raw_subscriber')
        self.subscription = self.create_subscription(
            Image,
            '/xtion/rgb/image_raw',
            self.listener_callback,
            10)

    def listener_callback(self, msg):
        # see https://docs.ros2.org/latest/api/sensor_msgs/msg/Image.html
        # for the msg structure
        self.get_logger().info('I heard: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    subscriber = ImageRawSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Subscribe to the topic using C++#

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/image.hpp"

using std::placeholders::_1;
using namespace rclcpp;

class ImageRawSubscriber : public rclcpp::Node
{
public:
    ImageRawSubscriber()
    : Node("xtion_rgb_image_raw_subscriber")
    {
    subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
            "/xtion/rgb/image_raw",
            10,
            std::bind(&ImageRawSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const sensor_msgs::msg::Image::SharedPtr msg) const
    {
    // see https://docs.ros2.org/latest/api/sensor_msgs/msg/Image.html
    // for the msg structure
    RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
    }

    Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<ImageRawSubscriber>());
shutdown();
return 0;
}

[🤔 ROS2?] /xtion/rgb/image_raw#

Quick snippets#

How to use in your code#

`[🤔 ROS2?] /xtion/rgb/image_raw`#