[ros-users] how to publish JPEG images with compressed_image_transport ?

[Rene Ladan]

It works now, with the leading underscore :-) The rest was correct after all.

The topic list also has changed:
%rostopic list  -v

Published topics:
 * /rosout [roslib/Log] 2 publishers
 * /rosout_agg [roslib/Log] 1 publisher
 * /jpeg/image/compressed [sensor_msgs/CompressedImage] 1 publisher

Subscribed topics:
 * /time [unknown type] 3 subscribers
 * /jpeg/image/compressed [sensor_msgs/CompressedImage] 1 subscriber
 * /rosout [roslib/Log] 1 subscriber
 * /clock [unknown type] 3 subscribers

Thanks,
Rene

2010/3/26 Rob Wheeler <wheeler at willowgarage.com>:
>> %rosrun image_view image_view image:=/jpeg/image image_transport:=compressed
>
> image_transport is a parameter on the master, so it should have a
> leading underscore (http://www.ros.org/wiki/Remapping%20Arguments)
>
> Try:
>
> %rosrun image_view image_view image:=/jpeg/image _image_transport:=compressed
>
> On Fri, Mar 26, 2010 at 3:35 AM, Rene Ladan <r.c.ladan at gmail.com> wrote:
>> Hi,
>>
>> the attached C++ file publishes a JPEG picture from disk on
>> /jpeg/image/compressed
>> (verified with rostopic list -v).  However, if I run image_view to
>> display the picture, I only get
>> a blank window. There seems to be a discrepancy:
>>
>> %rostopic list  -v
>>
>> Published topics:
>>  * /rosout [roslib/Log] 2 publishers
>>  * /rosout_agg [roslib/Log] 1 publisher
>>  * /jpeg/image/compressed [sensor_msgs/CompressedImage] 1 publisher
>>
>> Subscribed topics:
>>  * /time [unknown type] 3 subscribers
>>  * /rosout [roslib/Log] 1 subscriber
>>  * /clock [unknown type] 3 subscribers
>>  * /jpeg/image [unknown type] 1 subscriber
>>
>> Comands invoked:
>> %roscore (with ROS_IP set to public IP address and ROS_MASTER_URI to
>> http://localhost:11311)
>> %rosrun pkg-name jpeg
>> %rosrun image_view image_view image:=/jpeg/image image_transport:=compressed
>>
>> So there is probably something wrong with the code, but the unknown
>> type /jpeg/image in the
>> subscriber list also looks suspicious?
>>
>> Regards,
>> Rene
>>
>> 2010/3/16 Jeremy Leibs <leibs at willowgarage.com>:
>>> The axis_camera node in the texas_drivers stack does exactly this.
>>>
>>> https://code.ros.org/trac/wg-ros-pkg/browser/stacks/texas_drivers/trunk/axis_camera/axis.py
>>>
>>> The relevant snippets (python code, but C++ would be almost identical):
>>>
>>> Create the appropriate publishers ("compressed" and "camera_info"
>>>
>>>    self.pub = rospy.Publisher("axis_camera/compressed", CompressedImage, self)
>>>    self.caminfo_pub = rospy.Publisher("axis_camera/camera_info",
>>> CameraInfo, self)
>>>
>>>
>>>
>>> Populate the appropriate messages and publish:
>>>
>>>      img = fp.read(content_length)
>>>
>>>      msg = CompressedImage()
>>>      msg.header.stamp = rospy.Time.now()
>>>      msg.format = "jpeg"
>>>      msg.data = img
>>>
>>>      self.axis.pub.publish(msg)
>>>
>>>      cimsg = CameraInfo()
>>>      cimsg.header.stamp = msg.header.stamp
>>>      cimsg.width = self.width
>>>      cimsg.height = self.height
>>>
>>>      self.axis.caminfo_pub.publish(cimsg)
>>>
>>>
>>> On Tue, Mar 16, 2010 at 7:10 AM, Rene Ladan <r.c.ladan at gmail.com> wrote:
>>>> Hi,
>>>>
>>>> I'm writing a node to publish images from the Surveyor stereo camera
>>>> (see http://www.surveyor.com/stereo/ ).
>>>> The camera publishes the images in JPEG format.  The logical thing
>>>> would be to somehow feed them to the
>>>> compressed_image_format node (after setting up a handmade header?) to
>>>> publish them.  Is there any example
>>>> code which does this?
>>>>
>>>> Also, if I understand correctly, the subscriber can just subscribe to
>>>> the normal image_transport topic, but needs
>>>> to have extra code to decompress compressed images before using them?
>>>>
>>>> Thanks,
>>>> Rene
>>>> --
>>>> http://www.rene-ladan.nl/
>>>>
>>>> GPG fingerprint = E738 5471 D185 7013 0EE0  4FC8 3C1D 6F83 12E1 84F6
>>>> (subkeys.pgp.net)
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