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rosskill.go
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rosskill.go
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// ROS Skill implements a skill that shows how to publish images to an ROS topic via rosserial.
package example
// #include "rosskill.h"
import "C"
import (
"mind/core/framework/drivers/media"
"mind/core/framework/log"
"mind/core/framework/skill"
"bytes"
"image/jpeg"
)
const (
rosMasterIP = "127.0.0.1" // ROS_MASTER_IP need to be modified manually
rosTopic = "/image/compressed"
)
var jpegOption = &jpeg.Options{10} // Size of rosserial messages can not exceed 32767, so we have to use low quality images here.
type rosskill struct {
skill.Base
imagePublisher *C.ImagePublisher
stop chan bool
}
func NewSkill() skill.Interface {
return &rosskill{
imagePublisher: C.NewImagePublisher(C.CString(rosMasterIP), C.CString(rosTopic)),
stop: make(chan bool),
}
}
func (d *rosskill) publishImages() {
for {
select {
case <-d.stop:
break
default:
}
var b bytes.Buffer
img := media.SnapshotRGBA()
jpeg.Encode(&b, img, jpegOption)
C.PublishImage(
d.imagePublisher,
(*C.uchar)(C.CBytes(b.Bytes())),
C.int(len(b.Bytes())),
)
log.Info.Println("Sent Image with length:", len(b.Bytes()))
}
}
func (d *rosskill) OnStart() {
err := media.Start()
if err != nil {
log.Error.Println("Media start err:", err)
return
}
d.publishImages()
}
func (d *rosskill) OnClose() {
d.stop <- true
C.DeleteImagePublisher(d.imagePublisher)
media.Close()
}