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For those who are stuck in the same position as me, you might want to check your bag file. Mine didn't have any images in them.

But I got stuck here for a while because /ardrone/image_raw was displayed when I called rostopic list. In this case you want to make sure that your images were considerable in message numbers.

1) Check your rosbag using rosbag info [bag_file] to see if the message is listed. 2) Try visualizing in rviz if the image is displayed while running the bag file. 3) rqt_graph for connection of topics.