listener.py

listener.py

import rospy
from std_msgs.msg import String
from std_msgs.msg import String
from sensor_msgs.msg import CompressedImage
import numpy as np
import cv2
from cv_bridge import CvBridge

def callback(data):
    #rospy.loginfo(rospy.get_caller_id() + 'I heard ')
    #print(type(data))
    #c = np.fromstring(bytes(data), np.uint8)
    np_arr = np.fromstring(data.data, np.uint8)
    #br = CvBridge()
    #im2 = br.imgmsg_to_cv2(msg)
    #print(c, len(c))
    image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
    resized = cv2.resize(image, (640,480))

    cv2.imshow('LGSVL End-to-End Lane Following', resized)
    cv2.waitKey(1)

def callback2(data):
    rospy.loginfo(rospy.get_caller_id() + 'I heard ', data)

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    subscriber = rospy.Subscriber('/simulator/camera_node/image/compressed', CompressedImage, callback)
    subscriber = rospy.Subscriber('/odom', String, callback2)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()