<?xml version="1.0"?>

<package format="2">

  <name>myRealSenseTest</name>

  <version>0.0.0</version>

  <description>The myRealSenseTest package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->

  <!-- Example:  -->

  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->

  <maintainer email="bck20@todo.todo">bck20</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->

  <!-- Commonly used license strings: -->

  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

  <license>TODO</license>

  <!-- Url tags are optional, but multiple are allowed, one per tag -->

  <!-- Optional attribute type can be: website, bugtracker, or repository -->

  <!-- Example: -->

  <!-- <url type="website">http://wiki.ros.org/myRealSenseTest</url> -->

  <!-- Author tags are optional, multiple are allowed, one per tag -->

  <!-- Authors do not have to be maintainers, but could be -->

  <!-- Example: -->

  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

  <!-- The *depend tags are used to specify dependencies -->

  <!-- Dependencies can be catkin packages or system dependencies -->

  <!-- Examples: -->

  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->

  <!--   <depend>roscpp</depend> -->

  <!--   Note that this is equivalent to the following: -->

  <!--   <build_depend>roscpp</build_depend> -->

  <!--   <exec_depend>roscpp</exec_depend> -->

  <!-- Use build_depend for packages you need at compile time: -->

  <!--   <build_depend>message_generation</build_depend> -->

  <!-- Use build_export_depend for packages you need in order to build against this package: -->

  <!--   <build_export_depend>message_generation</build_export_depend> -->

  <!-- Use buildtool_depend for build tool packages: -->

  <!--   <buildtool_depend>catkin</buildtool_depend> -->

  <!-- Use exec_depend for packages you need at runtime: -->

  <!--   <exec_depend>message_runtime</exec_depend> -->

  <!-- Use test_depend for packages you need only for testing: -->

  <!--   <test_depend>gtest</test_depend> -->

  <!-- Use doc_depend for packages you need only for building documentation: -->

  <!--   <doc_depend>doxygen</doc_depend> -->

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>cv_bridge</build_depend>

  <build_depend>image_transport</build_depend>

  <build_depend>rosOpenCV</build_depend>

  <build_depend>roscpp</build_depend>

  <build_depend>sensor_msgs</build_depend>

  <build_depend>std_msgs</build_depend>

  <build_export_depend>cv_bridge</build_export_depend>

  <build_export_depend>image_transport</build_export_depend>

  <build_export_depend>rosOpenCV</build_export_depend>

  <build_export_depend>roscpp</build_export_depend>

  <build_export_depend>sensor_msgs</build_export_depend>

  <build_export_depend>std_msgs</build_export_depend>

  <exec_depend>cv_bridge</exec_depend>

  <exec_depend>image_transport</exec_depend>

  <exec_depend>rosOpenCV</exec_depend>

  <exec_depend>roscpp</exec_depend>

  <exec_depend>sensor_msgs</exec_depend>

  <exec_depend>std_msgs</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->

  <export>

    <!-- Other tools can request additional information be placed here -->

  </export>

</package>

//接收并查看图像消息的节点img_viewer.cpp

#include <ros/ros.h>

#include <image_transport/image_transport.h>

#include <opencv2/highgui/highgui.hpp>

#include <cv_bridge/cv_bridge.h>

 //依赖包有std_msgs（消息传递），roscpp（c++），cv_bridge（ros和opencv图像消息转换），sensor_msgs（传感器消息），image_transport（图像编码传输）

void imageCallback(const sensor_msgs::ImageConstPtr& msg)

{

  try

  {

    cv::imshow("view", cv_bridge::toCvShare(msg, "16UC1")->image);

  }

  catch (cv_bridge::Exception& e)

  {

    ROS_ERROR("Could not convert from '%s' to '16UC1'.", msg->encoding.c_str());

  }

}

int main(int argc, char **argv)

{

  ros::init(argc, argv, "img_viewer");

  ros::NodeHandle nh;

  cv::namedWindow("view");

  cv::startWindowThread();

  image_transport::ImageTransport it(nh);

  image_transport::Subscriber sub = it.subscribe("camera/depth/image_rect_raw", 0, imageCallback);

  ros::spin();

  cv::destroyWindow("view");

  return 0;

}

cmake_minimum_required(VERSION 3.0.2)

project(myRealSenseTest)

## Compile as C++11, supported in ROS Kinetic and newer

add_compile_options(-std=c++11)

## Find catkin macros and libraries

## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

## is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS

  cv_bridge

  image_transport

  roscpp

  sensor_msgs

  std_msgs

)

## System dependencies are found with CMake's conventions

# find_package(Boost REQUIRED COMPONENTS system)

# find_package(OpenCV REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures

## modules and global scripts declared therein get installed

## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

# catkin_python_setup()

################################################

## Declare ROS messages, services and actions ##

################################################

## To declare and build messages, services or actions from within this

## package, follow these steps:

## * Let MSG_DEP_SET be the set of packages whose message types you use in

##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).

## * In the file package.xml:

##   * add a build_depend tag for "message_generation"

##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET

##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in

##     but can be declared for certainty nonetheless:

##     * add a exec_depend tag for "message_runtime"

## * In this file (CMakeLists.txt):

##   * add "message_generation" and every package in MSG_DEP_SET to

##     find_package(catkin REQUIRED COMPONENTS ...)

##   * add "message_runtime" and every package in MSG_DEP_SET to

##     catkin_package(CATKIN_DEPENDS ...)

##   * uncomment the add_*_files sections below as needed

##     and list every .msg/.srv/.action file to be processed

##   * uncomment the generate_messages entry below

##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder

# add_message_files(

#   FILES

#   Message1.msg

#   Message2.msg

# )

## Generate services in the 'srv' folder

# add_service_files(

#   FILES

#   Service1.srv

#   Service2.srv

# )

## Generate actions in the 'action' folder

# add_action_files(

#   FILES

#   Action1.action

#   Action2.action

# )

## Generate added messages and services with any dependencies listed here

# generate_messages(

#   DEPENDENCIES

#   sensor_msgs#   std_msgs

# )

################################################

## Declare ROS dynamic reconfigure parameters ##

################################################

## To declare and build dynamic reconfigure parameters within this

## package, follow these steps:

## * In the file package.xml:

##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"

## * In this file (CMakeLists.txt):

##   * add "dynamic_reconfigure" to

##     find_package(catkin REQUIRED COMPONENTS ...)

##   * uncomment the "generate_dynamic_reconfigure_options" section below

##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder

# generate_dynamic_reconfigure_options(

#   cfg/DynReconf1.cfg

#   cfg/DynReconf2.cfg

# )

###################################

## catkin specific configuration ##

###################################

## The catkin_package macro generates cmake config files for your package

## Declare things to be passed to dependent projects

## INCLUDE_DIRS: uncomment this if your package contains header files

## LIBRARIES: libraries you create in this project that dependent projects also need

## CATKIN_DEPENDS: catkin_packages dependent projects also need

## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

#  INCLUDE_DIRS include

#  LIBRARIES myRealSenseTest

#  CATKIN_DEPENDS cv_bridge image_transport opencv2 roscpp sensor_msgs std_msgs

#  DEPENDS system_lib

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

include_directories(

# include

  ${catkin_INCLUDE_DIRS}

)

## Declare a C++ library

# add_library(${PROJECT_NAME}

#   src/${PROJECT_NAME}/myRealSenseTest.cpp

# )

## Add cmake target dependencies of the library

## as an example, code may need to be generated before libraries

## either from message generation or dynamic reconfigure

# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable

## With catkin_make all packages are built within a single CMake context

## The recommended prefix ensures that target names across packages don't collide

# add_executable(${PROJECT_NAME}_node src/myRealSenseTest_node.cpp)

## Rename C++ executable without prefix

## The above recommended prefix causes long target names, the following renames the

## target back to the shorter version for ease of user use

## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"

# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable

## same as for the library above

# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against

# target_link_libraries(${PROJECT_NAME}_node

#   ${catkin_LIBRARIES}

# )

add_executable(img_publisher src/img_publisher.cpp)

target_link_libraries(img_publisher ${catkin_LIBRARIES} )

add_executable(img_viewer src/img_viewer.cpp)

target_link_libraries(img_viewer ${catkin_LIBRARIES})

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# catkin_install_python(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables for installation

## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html

# install(TARGETS ${PROJECT_NAME}_node

#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark libraries for installation

## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html

# install(TARGETS ${PROJECT_NAME}

#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}

# )

## Mark cpp header files for installation

# install(DIRECTORY include/${PROJECT_NAME}/

#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

#   FILES_MATCHING PATTERN "*.h"

#   PATTERN ".svn" EXCLUDE

# )

## Mark other files for installation (e.g. launch and bag files, etc.)

# install(FILES

#   # myfile1

#   # myfile2

#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

# )

#############

## Testing ##

#############

## Add gtest based cpp test target and link libraries

# catkin_add_gtest(${PROJECT_NAME}-test test/test_myRealSenseTest.cpp)

# if(TARGET ${PROJECT_NAME}-test)

#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})

# endif()

## Add folders to be run by python nosetests

# catkin_add_nosetests(test)