text: #!/usr/bin/env python
  # -*- coding: utf-8 -*-
  """
  Example Python node to publish on a specific topic.
  """
  
  # Import required Python code.
  from __future__ import print_function
  import sys
  
  import roslib
  import rospy
  import cv2
  from matplotlib import pyplot as plt
  
  from std_msgs.msg import String
  from sensor_msgs.msg import Image
  from sensor_msgs.msg import CompressedImage
  from cv_bridge import CvBridge, CvBridgeError
  
  
  
  class EuclidRS(object):
      '''
      Node example class.
      '''
      def __init__(self):
          self.bridge = CvBridge()
          #self.image_sub = rospy.Subscriber("/camera/color/image_raw", Image, self.imageCallback)
          self.depthImage_sub = rospy.Subscriber("/camera/depth/image_raw", Image, self.depthImageCallback)
          plt.ion()
  
      def imageCallback(self, data):
          try:
            cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
          except CvBridgeError as e:
            print(e)
          cv2.imshow("Image window", cv_image)
          cv2.waitKey(3)
  
      def depthImageCallback(self, depthData):
          try:
            cv_depthimage = self.bridge.imgmsg_to_cv2(depthData, "16UC1")
          except CvBridgeError as e:
            print(e)
          cv2.imshow("Depth Image window", cv_depthimage)
          cv2.waitKey(3)
  
  def main(args):
    ers = EuclidRS()
    rospy.init_node('euclid_rs', anonymous=True)
    try:
      rospy.spin()
    except KeyboardInterrupt:
      print("Shutting down")
    cv2.destroyAllWindows()
   
  if __name__ == '__main__':
    main(sys.argv)