#include "ros/ros.h" #include "std_msgs/Float64MultiArray.h" #include "torcsclient.h" #include int main(int argc, char **argv) { ros::init(argc, argv, "camera"); ros::NodeHandle n; ros::Publisher chatter_pub = n.advertise("/camera", 1000); ros::Rate loop_rate(10); int count = 0; torcs::TorcsClient client; while (ros::ok()) { std_msgs::Float64MultiArray::Ptr msg(new std_msgs::Float64MultiArray); msg->data.resize(torcs::IMAGE_SIZE_BYTES); const auto imageData = client.getScreenshot(); memcpy(msg->data.data(), imageData->data(), imageData->size()); ROS_INFO("%f", msg->data[0]); chatter_pub.publish(msg); ros::spinOnce(); loop_rate.sleep(); ++count; } return 0; }