@小鱼 完整代码：

import rclpy from rclpy.node import Node from sensor_msgs.msg import Image from cv_bridge import CvBridge import cv2 from flask import Flask, Response import io import threading import argparse # 初始化Flask应用 app = Flask(__name__) # 创建一个全局变量来存储图像数据 current_image = None # 创建ROS2节点类 class ImageSubscriber(Node): def __init__(self, topic_name): super().__init__('image_subscriber') self.subscription = self.create_subscription( Image, topic_name, self.image_callback, 10) self.subscription # 防止订阅被自动销毁 self.bridge = CvBridge() def image_callback(self, msg): global current_image cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8") # 将图像转换为JPEG格式 _, buffer = cv2.imencode('.jpg', cv_image) current_image = buffer.tobytes() # 生成器函数，不断发送图像 def generate(): while True: if current_image is not None: yield (b'--frame\r\n' b'Content-Type: image/jpeg\r\n\r\n' + current_image + b'\r\n') else: yield (b'--frame\r\n' b'Content-Type: text/plain\r\n\r\nNo image available\r\n') @app.route('/video_stream') def video_stream(): return Response(generate(), mimetype='multipart/x-mixed-replace; boundary=frame') def run_ros_node(topic_name): rclpy.init() image_subscriber = ImageSubscriber(topic_name) rclpy.spin(image_subscriber) # 清理和关闭ROS2节点 image_subscriber.destroy_node() rclpy.shutdown() def main(args=None): parser = argparse.ArgumentParser(description="Subscribe to a ROS2 image topic and serve it as a video stream.") parser.add_argument('topic_name', type=str, help="The name of the ROS2 topic to subscribe to.") args = parser.parse_args() # 创建线程运行ROS2节点 ros_thread = threading.Thread(target=run_ros_node, args=(args.topic_name,)) ros_thread.start() # 启动Flask HTTP服务器 try: app.run(host='0.0.0.0', port=5000, threaded=True) except KeyboardInterrupt: pass finally: # 确保ROS线程可以优雅退出 ros_thread.join() if __name__ == '__main__': main()