change

src/include/qnode.hpp

@@ -75,7 +75,7 @@ private:
     void powerCallback(const std_msgs::Float32& message_holder);
     //void myCallback(const std_msgs::Float64& message_holder);
     void batteryCallback(const sensor_msgs::BatteryState &message);
-    void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);//camera callback function
+    void imageCallback(const sensor_msgs::ImageConstPtr &msg);//camera callback function
 
     QImage  Mat2QImage(cv::Mat const &src);
     cv::Mat QImage2Mat(QImage &image);

src/main/mainwindow.cpp

@@ -8,6 +8,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
 
 {
     qnode.init();
+    qnode.SubAndPubTopic();
     ui->setupUi(this);
     initUis();
     connections();

src/main/qnode.cpp

@@ -44,9 +44,9 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this);
+    //image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, this);
-
 
+    //image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this)
 
     //chatter_publisher = n.advertise<std_msgs::String>("chatter1", 1000);
     //chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
@@ -161,12 +161,11 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
 
     ros::spinOnce();
 }
-int i =0;
+
+
 //速度回调函数
 void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 {
-
-    std::cout<<i++<<endl;
     ROS_INFO("i am ok");
     emit speed_x(msg->twist.twist.linear.x);
     emit speed_th(msg->twist.twist.angular.z);
@@ -174,21 +173,21 @@ void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 }
 
 
-void QNode::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg)
+void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
-    ROS_INFO("I'm setting picture in mul_t callback function!");
+    try
-    cv_bridge::CvImagePtr cv_ptr;
+      {
-
+        cv_bridge::CvImageConstPtr cv_ptr =
-    try {
+            cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
-      //深拷贝转换为opencv类型
+        cv::Mat img = cv_ptr->image;
-      cv_bridge::CvImagePtr cv_ptr_compressed =
+        QImage image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change  to QImage format
-          cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+        ROS_INFO("I'm setting picture in mul_t callback function!");
-      QImage im = Mat2QImage(cv_ptr_compressed->image);
+        image.save("/home/jackyma/test.jpg");
-      emit show_image(im);
+      }
-    } catch (cv_bridge::Exception& e) {
+    catch (cv_bridge::Exception& e)
-      //log(Error, ("video frame0 exception: " + QString(e.what())).toStdString());
+      {
-      return;
+        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
-    }
+      }
     ros::spin();
 }