Jetson nano を使用してカメラデータ取得とjpegデータ送信：ソースコード：publisher_member_function.py

# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


# Copyright 2022 robot-creation-diary.com
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# 整数とテキストを送信するチュートリアルの内容から、ステレオカメラデータを取得し
# 変換・送信するように変更してある。

import rclpy
from rclpy.node import Node

from cpp_pubsub.msg import CameraMsg
#from cpp_pubsub.msg import VideoMsg
from hmdcontroller_sub.CustomMjpeg import CustomMjpeg
import cv2
import time

class MinimalPublisher(Node):

    def __init__(self):
        super().__init__('minimal_publisher')
        print("init start")
        self.publisher = self.create_publisher(CameraMsg, 'topic', 10)
        timer_period = 0.10  # seconds
        print("init 0")
        self.st = time.time()
        # カメラ関連
        # 0はカメラを指定する番号。状況に応じて変更のこと
        self.video_capture_l = CustomMjpeg(1,1280,720,10)
        # 1はカメラを指定する番号。状況に応じて変更のこと
        self.video_capture_r = CustomMjpeg(0,1280,720,10)
        self.timer = self.create_timer(timer_period, self.timer_callback)

    def __del__(self):
        pass

    def timer_callback(self):

        # カメラ関連
        frame_data_l = self.video_capture_l.get_jpeg_data()
        frame_data_r = self.video_capture_r.get_jpeg_data()

        if None is not frame_data_l and None is not frame_data_r:
            # データ送信関連
            msg = CameraMsg()
            # 送信用データの代入単純に=で代入しようとすると型が違うと怒られる
            msg.img_data_l.frombytes(frame_data_l)
            msg.img_data_r.frombytes(frame_data_r)

            self.publisher.publish(msg)
#            # コンソールに何も表示されないと不安なのでFPSを表示
            print("FPS", 1/(time.time() - self.st ))
            self.st = time.time()
            pass
        else:
            if None is not frame_data_l:
                print("l", len(frame_data_l))

            if None is not frame_data_r:
                print("r", len(frame_data_r))
            pass

def main(args=None):
    rclpy.init(args=args)

    minimal_publisher = MinimalPublisher()

    rclpy.spin(minimal_publisher)

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    minimal_publisher.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()