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dxl_armed_turtlebot/scripts/track_box_to_image_marker.py #282

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dxl_armed_turtlebot/scripts/track_box_to_image_marker.py #282

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21 changes: 21 additions & 0 deletions dxl_armed_turtlebot/scripts/track_box_to_image_marker.py
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#! /usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from opencv_apps.msg import RotatedRectStamped
from image_view2.msg import ImageMarker2
from geometry_msgs.msg import Point

def cb(msg):
print msg.rect
marker = ImageMarker2()
marker.type =0
marker.position = Point(msg.rect.center.x, msg.rect.center.y, 0)
pub.publish(marker)


rospy.init_node('client')
rospy.Subscriber('/camshift/track_box', RotatedRectStamped, cb)
pub = rospy.Publisher('/image_marker', ImageMarker2)
rospy.spin()