53 lines
1.7 KiB
Python
53 lines
1.7 KiB
Python
# Copyright 2023 RealSense, Inc. All Rights Reserved.
|
|
#
|
|
# 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.
|
|
|
|
#!/usr/bin/env python
|
|
import os
|
|
import sys
|
|
import rclpy
|
|
from rclpy.node import Node
|
|
from rclpy import qos
|
|
from realsense2_camera_msgs.msg import Metadata
|
|
import json
|
|
|
|
def metadata_cb(msg):
|
|
aa = json.loads(msg.json_data)
|
|
os.system('clear')
|
|
print('header:\nstamp:\n secs:', msg.header.stamp.sec, '\n nsecs:', msg.header.stamp.nanosec)
|
|
print('\n'.join(['%10s:%-10s' % (key, str(value)) for key, value in aa.items()]))
|
|
|
|
def main():
|
|
if len(sys.argv) < 2 or '--help' in sys.argv or '/?' in sys.argv:
|
|
print ('USAGE:')
|
|
print('echo_metadata.py <topic>')
|
|
print('Demo for listening on given metadata topic.')
|
|
print('App subscribes on given topic')
|
|
print('App then prints metadata from messages')
|
|
print('')
|
|
print('Example: echo_metadata.py /camera/depth/metadata')
|
|
print('')
|
|
exit(-1)
|
|
|
|
topic = sys.argv[1]
|
|
|
|
rclpy.init()
|
|
node = Node('metadata_tester')
|
|
|
|
depth_sub = node.create_subscription(Metadata, topic, metadata_cb, qos.qos_profile_sensor_data)
|
|
|
|
rclpy.spin(node)
|
|
|
|
if __name__ == '__main__':
|
|
main()
|