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yul
2024-02-05 06:15:02 +01:00
parent 4b38562914
commit 6a9821bf39
1 changed files with 3 additions and 1 deletions
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4
src/tutorial_pkg/src/my_first_node.cpp
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@@ -1,9 +1,10 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <sensor_msgs/Image.h> #include <sensor_msgs/Image.h>
#include <std_msgs/UInt8.h> #include <std_msgs/UInt8.h>
#include "std_srvs/Empty.h" #include <std_srvs/Empty.h>
ros::Publisher brightness_pub; ros::Publisher brightness_pub;
ros::ServiceClient client;
void imageCallback(const sensor_msgs::ImageConstPtr &image) void imageCallback(const sensor_msgs::ImageConstPtr &image)
{ {
@@ -38,6 +39,7 @@ int main(int argc, char **argv)
ros::Subscriber sub = n.subscribe("/camera/color/image_raw", 10, imageCallback); ros::Subscriber sub = n.subscribe("/camera/color/image_raw", 10, imageCallback);
brightness_pub = n.advertise<std_msgs::UInt8>("brightness", 1); brightness_pub = n.advertise<std_msgs::UInt8>("brightness", 1);
ros::Timer timer = n.createTimer(ros::Duration(timer_period_s), timerCallback); ros::Timer timer = n.createTimer(ros::Duration(timer_period_s), timerCallback);
client = n.serviceClient<std_srvs::Empty>("/image_saver/save");
ROS_INFO("Node started!"); ROS_INFO("Node started!");
ros::spin(); ros::spin();