Hello everyone
I am using Ubuntu 14.04 and Ros Indigo. I am trying to make the tutorial on camera_calibration (http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration) To do this they ask me to have these 2 topics publishing data:
/camera/camera_info
/camera/image_raw
I was using the image_transport_tutorials publisher video (http://wiki.ros.org/image_transport/Tutorials/PublishingImages) Additional to this, from this question http://answers.ros.org/question/11361/how-to-publish-sensor_msgscamerainfo-messages/ I added 4 lines and my program is publishing camera info, however I always receive this message
('Waiting for service', '/camera/set_camera_info', '...')
Service not found
I will copy here the image_transport_tutorials publisher used... Could someone please tell me how can I make this code to publish camera information? (or how to publish information about the camera I am using)
#include
#include
#include
#include
#include // for converting the command line parameter to integer
int main(int argc, char** argv)
{
// Check if video source has been passed as a parameter
if(argv[1] == NULL) return 1;
ros::init(argc, argv, "image_publisher");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1);
ros::Publisher pub_info_camera = nh.advertise("camera/camera_info", 1); //
sensor_msgs::CameraInfo info_camera; //
// Convert the passed as command line parameter index for the video device to an integer
std::istringstream video_sourceCmd(argv[1]);
int video_source;
// Check if it is indeed a number
if(!(video_sourceCmd >> video_source)) return 1;
cv::VideoCapture cap(video_source);
// Check if video device can be opened with the given index
if(!cap.isOpened()) return 1;
cv::Mat frame;
sensor_msgs::ImagePtr msg;
ros::Rate loop_rate(5);
while (nh.ok()) {
cap >> frame;
// Check if grabbed frame is actually full with some content
if(!frame.empty()) {
msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
info_camera.header.stamp = ros::Time::now(); //
pub_info_camera.publish(info_camera); //
pub.publish(msg);
cv::waitKey(1);
}
ros::spinOnce();
loop_rate.sleep();
}
}
Thanks in advance.
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