init

blackfly_viewer.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+import cv2
+
+
+class BlackflyViewer(Node):
+    def __init__(self):
+        super().__init__('blackfly_viewer')
+
+        # Change this topic if your driver publishes elsewhere
+        image_topic = '/right_camera/image_raw'
+
+        self.bridge = CvBridge()
+
+        self.subscription = self.create_subscription(
+            Image,
+            image_topic,
+            self.image_callback,
+            10
+        )
+
+        self.get_logger().info(f'Subscribed to {image_topic}')
+
+    def image_callback(self, msg: Image):
+        try:
+            # Convert ROS Image -> OpenCV image
+            frame = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+
+            cv2.imshow('Blackfly Camera', frame)
+
+            # Needed for OpenCV window events
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                self.get_logger().info('Shutting down viewer')
+                rclpy.shutdown()
+
+        except Exception as e:
+            self.get_logger().error(f'Image conversion failed: {e}')
+
+
+def main():
+    rclpy.init()
+    node = BlackflyViewer()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        cv2.destroyAllWindows()
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()