通过ros系统中websocket中发送sensor_msgs::Image数据给web端显示

通过ros系统中websocket中发送sensor_msgs::Image数据给web端显示(一)

 图片数据转成base64编码方式

#include <ros/ros.h>
#include <signal.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/time_synchronizer.h>#include <functional>#include <websocketpp/config/asio_no_tls.hpp>
#include <websocketpp/server.hpp>#include <iostream>
#include <chrono>// 头文件用于时间相关操作
#include <thread>
#include <unordered_set>
#include <memory>#include <opencv2/core.hpp>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>#include <boost/thread.hpp>
#include <std_msgs/String.h>
#include <future>using namespace std;class WebSocketServer {pr