ROS Image Publisher

This node publishes all the images contained in an specified folder, in the specified topic. The images will be published in BGR8 format.

Setup

1. Clone this repo git clone https://github.com/amc-nu/RosImageFolderPublisher
2. Change to repo dir cd RosImageFolderPublisher
3. Execute catkin_make
4. Source the workspace source devel/setup.bash

If you want to integrate this into another catkin workspace, just copy the image_folder_publisher into the src target workspace.

How to Launch

Once in a sourced terminal, execute:
rosrun image_folder_publisher image_folder_publisher.py
or
roslaunch image_folder_publisher publisher.launch

Params

Param name	Type	Description	Default Value
topic_name	String	Name of the topic to publish the image stream	image_raw
publish_rate	Integer	Frame rate in Hz to publish the image.	10
sort_files	Boolean	Defines if the files will be sorted before publishing	True
frame_id	String	Sets the frame_id contained in the Image message header	camera
image_folder	String	Path to the folder containing the images to be published
sleep	Int	Sleep few seconds to make sure the images process nodes are started	0

Example

rosrun image_folder_publisher image_folder_publisher.py _image_folder:=/PATH/Images _topic_name:=/image_topic or modify these in publisher.launch

Notes

• Invalid files will be skipped. The supported image formats will correspond to the ones supported by CvBridge and OpenCV.
• Publish Rate will depend on the speed of the Hard disk.