To learn how to use the existing republish node to change an image transport type (ie compress and decompress image streams), scroll down the image_transport package page to the Nodes section.
Otherwise, continue reading this page.
Before starting any of the image_transport tutorials below, take the time to create a scratch package to work in and manipulate the example code. Create a sandbox package with the following dependencies:
$ roscreate-pkg learning_image_transport image_transport opencv2 cv_bridge
Make sure that the learning_image_transport directory is included in your ROS_PACKAGE_PATH and build it:
$ rosmake learning_image_transport
Beginner Tutorials
- Writing a Simple Image Publisher (C++)
This tutorial shows how to publish images using all available transports.
- Writing a Simple Image Subscriber (C++)
This tutorial shows how to subscribe to images using any available transport. By using the image_transport subscriber to subscribe to images, any image transport can be used at run-time. To learn how to actually use a specific image transport, see the next tutorial.
- Running the Simple Image Publisher and Subscriber with Different Transports
This tutorial discusses running the simple image publisher and subscriber using multiple transports.
- Managing Transport Plugins
This tutorial covers how to discover which transport plugins are included in your system and make them available for use. No programming required!
Intermediate Tutorials
- Writing a New Transport
This tutorials covers how to write publisher and subscriber plugins for a new image transport option.