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#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Image
from sensor_msgs.msg import CameraInfo
rospy.init_node("update_frame_id")
#Updating frame id for the error depth_front frame id does not match rgb_front frame id
class update_frame_id:
def __init__(self):
self.image = Image()
#subscribe to your specific sensors
self.sub_raw = rospy.Subscriber("/carla/ego_vehicle/rgb_front/image", Image, self.callback_raw)
self.sub_info = rospy.Subscriber("/carla/ego_vehicle/rgb_front/camera_info", CameraInfo, self.callback_info)
self.pub_raw = rospy.Publisher("/rgb/image_rect_color", Image, queue_size = 1)
self.pub_info = rospy.Publisher("/rgb/camera_info", CameraInfo, queue_size = 1)
def callback_raw(self, message):
message.header.frame_id = "ego_vehicle/depth_front"
self.pub_raw.publish(message)
def callback_info(self, message):
message.header.frame_id = "ego_vehicle/depth_front"
self.pub_info.publish(message)
update_frame_id = update_frame_id()
rospy.spin()
print("\nNode shutdown\n")
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