Image utilities for using ROS and Gazebo Transport

This package provides a unidirectional bridge for images from Gazebo to ROS. The bridge subscribes to Gazebo image messages (ignition::msgs::Image) and republishes them to ROS using image_transport.

For compressed images, install compressed_image_transport and the bridge will publish /compressed images. The same goes for other image_transport plugins.

To run the bridge from the command line:

ros2 run ros_gz_image image_bridge /topic1 /topic2

You can also modify the Quality of Service (QoS) policy used to publish images using an additional qos ROS parameter. For example:

ros2 run ros_gz_image image_bridge /topic1 /topic2 --ros-args qos:=sensor_data