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feat: python bindings for image_transport and publish (#323)
Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit c2952b0)
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‎image_transport/include/image_transport/image_transport.hpp

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@@ -111,6 +111,12 @@ class ImageTransport
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IMAGE_TRANSPORT_PUBLIC
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explicit ImageTransport(rclcpp::Node::SharedPtr node);
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IMAGE_TRANSPORT_PUBLIC
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ImageTransport(const ImageTransport & other);
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IMAGE_TRANSPORT_PUBLIC
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ImageTransport & operator=(const ImageTransport & other);
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IMAGE_TRANSPORT_PUBLIC
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~ImageTransport();
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@@ -351,6 +357,11 @@ class ImageTransport
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std::unique_ptr<Impl> impl_;
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};
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struct ImageTransport::Impl
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{
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rclcpp::Node::SharedPtr node_;
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};
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} // namespace image_transport
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#endif // IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_

‎image_transport/src/image_transport.cpp

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@@ -127,10 +127,8 @@ std::vector<std::string> getLoadableTransports()
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return loadableTransports;
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}
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struct ImageTransport::Impl
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{
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rclcpp::Node::SharedPtr node_;
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};
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ImageTransport::ImageTransport(const ImageTransport & other)
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: impl_(std::make_unique<Impl>(*other.impl_)) {}
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ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
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: impl_(std::make_unique<ImageTransport::Impl>())

‎image_transport_py/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package image_transport_py
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

‎image_transport_py/CMakeLists.txt

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cmake_minimum_required(VERSION 3.20)
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project(image_transport_py)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(ament_cmake_ros REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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# By default, without the settings below, find_package(Python3) will attempt
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# to find the newest python version it can, and additionally will find the
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# most specific version. For instance, on a system that has
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# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
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# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
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# The behavior we want is to prefer the "system" installed version unless the
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# user specifically tells us othewise through the Python3_EXECUTABLE hint.
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# Setting CMP0094 to NEW means that the search will stop after the first
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# python version is found. Setting Python3_FIND_UNVERSIONED_NAMES means that
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# the search will prefer /usr/bin/python3 over /usr/bin/python3.11. And that
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# latter functionality is only available in CMake 3.20 or later, so we need
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# at least that version.
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cmake_policy(SET CMP0094 NEW)
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set(Python3_FIND_UNVERSIONED_NAMES FIRST)
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# Find python before pybind11
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find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
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find_package(pybind11_vendor REQUIRED)
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find_package(pybind11 REQUIRED)
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ament_python_install_package(${PROJECT_NAME})
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pybind11_add_module(_image_transport MODULE
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src/image_transport_py/pybind_image_transport.cpp
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)
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target_include_directories(_image_transport PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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target_link_libraries(_image_transport PUBLIC
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image_transport::image_transport
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rclcpp::rclcpp
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${sensor_msgs_TARGETS}
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)
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# Install cython modules as sub-modules of the project
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install(
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TARGETS
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_image_transport
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DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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list(APPEND AMENT_LINT_AUTO_EXCLUDE
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ament_cmake_cppcheck
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)
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ament_lint_auto_find_test_dependencies()
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if(NOT WIN32)
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ament_cppcheck(LANGUAGE "c++")
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else()
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message(STATUS "Skipping ament_cppcheck on Windows")
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endif()
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endif()
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ament_package()

‎image_transport_py/README.md

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# image_transport_py: Python Bindings for ROS 2 Image Transport
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## Introduction
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`image_transport_py` is a Python package that provides bindings for `image_transport`. It enables efficient publishing and subscribing of images in Python, leveraging various transport plugins (e.g., `raw`, `compressed`).
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The package allows developers to handle image topics more efficiently and with less overhead than using standard ROS 2 topics.
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## Usage
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The detailed tutorial on `image_transport` and `image_transport_py` can be found at: https://github.com/ros-perception/image_transport_tutorials.
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## Classes
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### Publisher
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A publisher for images.
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#### Methods
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- `get_topic()`
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Returns the base image topic.
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- `get_num_subscribers()`
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Returns the number of subscribers this publisher is connected to.
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- `shutdown()`
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Unsubscribe the callback associated with this Publisher.
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- `publish(img)`
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Publish an image on the topics associated with this Publisher.
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### CameraPublisher
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A publisher for images with camera info.
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#### Methods
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- `get_topic()`
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Returns the base (image) topic of this CameraPublisher.
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- `get_num_subscribers()`
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Returns the number of subscribers this camera publisher is connected to.
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- `shutdown()`
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Unsubscribe the callback associated with this CameraPublisher.
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- `publish(img, info)`
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Publish an image and camera info on the topics associated with this Publisher.
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### ImageTransport
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An object for image transport operations.
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#### Constructor
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- `__init__(node_name, image_transport="", launch_params_filepath="")`
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Initialize an ImageTransport object with its node name, `image_transport` and launch params file path. If no `image_transport` specified, the default `raw` plugin will be initialized.
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#### Methods
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- `advertise(base_topic, queue_size, latch=False)`
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Advertise an image topic.
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- `advertise_camera(base_topic, queue_size, latch=False)`
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Advertise an image topic with camera info.
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- `subscribe(base_topic, queue_size, callback)`
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Subscribe to an image topic.
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- `subscribe_camera(base_topic, queue_size, callback)`
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Subscribe to an image topic with camera info.
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### Subscriber
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A subscriber for images.
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#### Methods
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- `get_topic()`
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Returns the base image topic.
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- `get_num_publishers()`
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Returns the number of publishers this subscriber is connected to.
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- `get_transport()`
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Returns the name of the transport being used.
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- `shutdown()`
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Unsubscribe the callback associated with this Subscriber.
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### CameraSubscriber
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A subscriber for images with camera info.
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#### Methods
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- `get_topic()`
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Returns the base image topic.
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- `get_num_publishers()`
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Returns the number of publishers this subscriber is connected to.
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- `get_transport()`
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Returns the name of the transport being used.
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- `shutdown()`
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Unsubscribe the callback associated with this CameraSubscriber.

‎image_transport_py/image_transport_py/__init__.py

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# Copyright 2024 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from rpyutils import add_dll_directories_from_env
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# Since Python 3.8, on Windows we should ensure DLL directories are explicitly added
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# to the search path.
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# See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
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with add_dll_directories_from_env('PATH'):
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from image_transport_py._image_transport import (
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ImageTransport,
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Publisher,
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Subscriber,
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CameraPublisher,
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CameraSubscriber,
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)
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__all__ = [
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'ImageTransport',
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'Publisher',
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'Subscriber',
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'CameraPublisher',
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'CameraSubscriber',
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]

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