image_transport provides specialized publisher and subscriber classes for transporting images. These classes use a plugin architecture to provide specialized transport options, such as through a video codec.
Original image_publisher package proposal: Sending ROS image messages over wireless is currently a major bottleneck. We need this to work for visualization, troubleshooting, teleoperation and off-board vision processing. Current solutions include:
- Nate's jpeg package, with JPEG encoder and decoder nodes for compressing/decompressing image messages
- prosilica_camera's thumbnail image topic for coarse visualization
image_publisher combines these ideas and adds additional features. Like the jpeg package, it contains encoder/decoder nodes. These support JPEG and PNG compression. encoder is a simple wrapper for the ImagePublisher class, which can also be used directly by other nodes. ImagePublisher advertises three topics: the original raw image, a rescaled thumbnail, and a compressed version. Compression format & level and thumbnail size can be set dynamically via parameters.
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