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The solution from John Hoare works. Although the filename has to be established within an environment variable, which might be inconvinient. I do have a node that sets the filename through dynamic_reconfigure and reads the image with imread. The sole thing missing is how a cv::Mat can be transformed to a publishable image ros message. The ros wiki explains how to do so once we have a cv_bridge::CvImagePtr but it does not explain how to construct the CvImagePtr given a cv::Mat.