image_transport_plugins

Description

A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data. For example, for viewing a stream of images off-robot, a video codec will give much lower bandwidth and latency. For low frame rate tranport of high-definition images, you might prefer sending them as JPEG or PNG-compressed form.

Software Architecture

Software architecture description

image_transport_plugins contains plugins to image_transport for sending sensor_msgs/Image topics in compressed representations. Its contents include:

• compressed_image_transport is a plugin providing JPEG and PNG compression of still images. Most useful for low-framerate/discontinuous image sources (e.g. a polled camera), or when lossless compression (PNG) is required.
• theora_image_transport is a plugin that compressed image topics using the Theora video codec. Useful for live video feeds.

These transports will only be available if the plugins are built on your system! On Ubuntu, they are included in the ros-<distro>-image-transport-plugins deb for each distribution. If building from source, you must explicitly build the image_transport_plugins stack.

input:

image_transport_plugins/
├── compressed_depth_image_transport
│   ├── cfg
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── compressed_depth_plugins.xml
│   ├── include
│   ├── package.xml
│   ├── pax_global_header
│   ├── src
│   └── test
├── compressed_image_transport
│   ├── cfg
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── compressed_plugins.xml
│   ├── include
│   ├── package.xml
│   ├── pax_global_header
│   └── src
├── image_transport_plugins
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── pax_global_header
└── theora_image_transport
    ├── cfg
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── include
    ├── msg
    ├── package.xml
    ├── src
    └── theora_plugins.xml

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.x86_64.rpm --nodeps --force

Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

output:

image_transport
├── cmake.lock
├── env.sh
├── lib
│   ├── image_transport
│   ├── libimage_transport_plugins.so
│   ├── libimage_transport.so
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── image_transport
image_transport_plugins
├── cmake.lock
├── env.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

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