通过CV2 Python脚本发送ROS消息

Question

我正在尝试实施一个机器人解决方案，用户将通过某个区域的摄像机馈送单击一个点，而移动四轮机器人将其路径引导至该位置。 我已经创建了通过使用同形图变换将视频像素坐标转换为地面坐标的部分，并希望实现将地面坐标发送至RViz的部分。 下面显示了计算地面坐标的部分：

TPR and FPR values are below:
TPR = [0.0001,0.0002,0.0003,0.0004,0.0005,0.0006,0.0007,0.0008,0.0009,0.001]
FPR = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]

因此，pointOut是地面上的点（例如：（2,4）m） 我需要一些有关如何实现节点创建以及将pointOut Marker消息传输到代码中的ROS主题的指导。

我的配置是ROS Kinetic Kame，Python 2.7