How to use ros external image on vrep

[redwan]

I was trying to integrate ros image to vrep vision sensor image. I convert the ros image in MONO8 format, but doesn't see any thing on vrep floating view.
My code is as follow

Code: Select all

      ros::ServiceClient client_simRosSetVisionSensorImage=node.serviceClient<vrep_common::simRosSetVisionSensorImage>("/vrep/simRosSetVisionSensorImage");
      vrep_common::simRosSetVisionSensorImage srv_VisionSensorImage;
      srv_VisionSensorImage.request.handle=vision::camera_handle("PassiveVision_sensor");  
	  srv_VisionSensorImage.request.image.header.seq		=img->header.seq	  ;
	  srv_VisionSensorImage.request.image.header.stamp		=ros::Time::now();
	  srv_VisionSensorImage.request.image.header.frame_id	="/imageQWAD"	  ;
	  srv_VisionSensorImage.request.image.height			=img->height 	  ;		
	  srv_VisionSensorImage.request.image.width				=img->width		  ;			
	  srv_VisionSensorImage.request.image.encoding 			=img->encoding 	  ;
	  srv_VisionSensorImage.request.image.is_bigendian		=img->is_bigendian ;
	  srv_VisionSensorImage.request.image.step				=img->step		  ;	
srv_VisionSensorImage.request.image.data.resize(img->width * img->height);
      memcpy(srv_VisionSensorImage.request.image.data.data(),  img->data.data(),img->width * img->height);

Is '/imageQWAD' be the topic name on vrep script? But it does not work.
BTW I follow rosTopicPublisher and Subscriber example.
Can you help me out?

[coppelia]

Hello,

Is your vision sensor in passive mode, and associated with the floating view? Best would be to use the rosTopicPublisherAndSubscriber.ttt demo scene, or at least some parts of it.
Then, did you check the code in programming/ros_packages/vrep_plugin/src/ROS_server.cpp ?

Cheers