Hi Silvia,
I understand that you want to publish the processed image back to the ROS Network, and capture and publish single images, possibly by utilizing the "snapshot key" feature within the viewer block.
To create a new topic and node for publishing please follow the below steps:
- In Simulink, you can use the "Publisher" block to send messages to a ROS topic. Add a new "Publisher" block to your model.
- In the "Publisher" block parameters, you can specify the topic name and message type. To create a new topic, provide a unique topic name.
- You can create a new node to manage the publishing. In Simulink, you can do this in the "Model Configuration Parameters" by specifying a new node name under the "Node name" parameter.
- Connect the output of your image processing block to the input of the "Publisher" block. This way, the processed image will be sent to the specified ROS topic.
To capture a single image from the video feed please follow the below steps:
- In Simulink, add a "Trigger" block to your model.
- Configure the Trigger block to trigger at a specific time or condition.
- Add a "Switch" block to your model. Connect the "Switch" block to the output of the "Trigger" block and to the "rosread" block. The "Switch" block can be used to control the flow of data based on the trigger signal.
- When the "Trigger" block triggers, it will allow data to flow from the "rosread" block to the "Publisher" block, effectively capturing and publishing a single image.
For more information on the “Publisher”, “Trigger”, “Switch” and “rosread” blocks, please refer to the following documentation links:
- Publisher: https://in.mathworks.com/help/ros/ref/publish.html
- Trigger: https://in.mathworks.com/help/simulink/ug/triggered-subsystems.html
- Switch: https://in.mathworks.com/help/simulink/slref/switch.html
- rosread: https://in.mathworks.com/help/ros/ref/readscanblock.html
Hope this helped.
Regards,
Anurag
