smach_to_mail.py

#!/usr/bin/env python                                                                                                                              

import rospy
import pickle
import base64

from smach_msgs.msg import SmachContainerStatus

import cv2
from cv_bridge import CvBridge
from sensor_msgs.msg import Image

class SmachToMail():
    def __init__(self):
        rospy.init_node('server_name')  # it should be 'smach_to_mail', but 'server_name' is the default name of smach_ros                         
        rospy.Subscriber("~smach/container_status", SmachContainerStatus, self._status_cb)
        self.bridge = CvBridge()

    def _status_cb(self, msg):
        if len(msg.active_states) == 0:
            return
        status_str = ', '.join(msg.active_states)
        local_data_str = pickle.loads(msg.local_data)
        info_str = msg.info
        print("status -> {}".format(status_str))
        print("description_str -> {}".format(local_data_str['DESCRIPTION']))
        #print("image_str -> {}".format(local_data_str['IMAGE']))                                                                                  
        if local_data_str['IMAGE'] :
            msg = Image()
            msg.deserialize(base64.b64decode(local_data_str['IMAGE']))
            cv_image = self.bridge.imgmsg_to_cv2(msg, msg.encoding)
            cv2.imshow("Image", cv_image)
            cv2.waitKey(2)

        print("info_str -> {}".format(info_str))


stm = SmachToMail()
rospy.spin()

smach_to_mail.py (compressed version)

#!/usr/bin/env python

import rospy
import pickle
import base64

from smach_msgs.msg import SmachContainerStatus

import numpy as np
import cv2
from sensor_msgs.msg import CompressedImage

class SmachToMail():
    def __init__(self):
        rospy.init_node('server_name')  # it should be 'smach_to_mail', but 'server_name' is the default name of smach_ros
        rospy.Subscriber("~smach/container_status", SmachContainerStatus, self._status_cb)
        self.cv_image = None

    def _status_cb(self, msg):
        if len(msg.active_states) == 0:
            return
        status_str = ', '.join(msg.active_states)
        local_data_str = pickle.loads(msg.local_data)
        info_str = msg.info
        print("status -> {}".format(status_str))
        print("description_str -> {}".format(local_data_str['DESCRIPTION']))
        #print("image_str -> {}".format(local_data_str['IMAGE']))
        if local_data_str['IMAGE'] :
            msg = CompressedImage()
            msg.deserialize(base64.b64decode(local_data_str['IMAGE']))
            np_arr = np.fromstring(msg.data, np.uint8)
            self.cv_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
        print("info_str -> {}".format(info_str))

    def spin(self):
        rate = rospy.Rate(10)
        while not rospy.is_shutdown():
            if not self.cv_image is None:
                cv2.imshow("Image", self.cv_image)
                cv2.waitKey(2)
            rate.sleep()


stm = SmachToMail()
stm.spin()