## repository: https://code.ros.org/svn/ros-pkg
<<PackageHeader(compressed_depth_image_transport)>>

<<TOC(3)>>

== Overview ==
`compressed_depth_image_transport` is a plugin package for [[image_transport]]. It enables any node using `image_transport` classes to publish and subscribe to compressed depth image/map topics. Compression parameters can be changed on the fly using the dynamic_reconfigure package.

`compressed_depth_image_transport` works only with floating-point or 16-bit integer encoded depth images.

'''''Before reading this page, make sure you understand the [[image_transport]] package'''''

== Tutorials ==
See [[image_transport/Tutorials]] for general instruction on using `image_transport`. `compressed_depth_image_transport` works similar to `compressed_image_transport` which is featured in the `image_transport` tutorial [[image_transport/Tutorials/ExaminingImagePublisherSubscriber|Examining the Simple Image Publisher and Subscriber]].

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
name = Publisher plugin
desc =
pub {
  0.name = <base_topic>/compressedDepth
  0.type = sensor_msgs/CompressedImage
  0.desc = Compressed depth transport subtopic.
}
}}}

{{{#!wiki version diamondback_and_newer
<<Include(compressed_image_transport/diamondback_params)>>
}}}

{{{
#!clearsilver CS/NodeAPI
name = Subscriber plugin
desc =
sub {
  0.name = <base_topic>/compressedDepth
  0.type = sensor_msgs/CompressedImage
  0.desc = Compressed depth transport subtopic.
}
}}}


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## CategoryPackage
## CategoryPackageROSPKG