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You need to create a node that subscribes to a sensor_msgs/Image topic. Here's some code:
public class ImageListenerNode extends AbstractNodeMain {
public static String TAG = "image_listener";
@Override
public GraphName getDefaultNodeName() {
return GraphName.of(TAG);
}
@Override
public void onStart(ConnectedNode node) {
final Log log = node.getLog();
Subscriber<Image> subscriber = node.newSubscriber("/image_topic", "sensor_msgs/Image");
subscriber.addMessageListener(new MessageListener<Image>() {
@Override
public void onNewMessage(Image message) {
log.info("New image is here!");
}
});
}
}
Apart from the standard rosjava dependency, you will need to add org.ros.rosjava_messages:sensor_msgs to your dependencies in your Gradle script / POM file (check https://github.com/rosjava/rosjava_mvn_repo/tree/master/org/ros/rosjava_messages/sensor_msgs to see the latest version of these messages). Then, you will be able to import sensor_msgs.Image to your project. Hope it helps!