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This snippet of code shows how to subscribe to a camera topic generated by Gazebo using gazebo::Transport::node

In the callback function void cb(ConstImageStampedPtr &_msg) you can handle the data from the image:

gazebo::transport::NodePtr gz_node;

// Function is called everytime a message is received.
void cb(ConstImageStampedPtr &_msg)

int main(int argc, char ** argv)
  // Load gazebo
  gazebo::client::setup(argc, argv);

  // Gazebo transport
  gz_node = gazebo::transport::NodePtr(new gazebo::transport::Node());

  // Listen to Gazebo world_stats topic
  gazebo::transport::SubscriberPtr sub = gz_node->Subscribe("~/camera/link/camera/image", cb);

  while (true)

  // Make sure to shut everything down.