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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";

public GraphName getDefaultNodeName() {
    return GraphName.of(TAG);

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>() {
      public void onNewMessage(Image message) {
"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 to see the latest version of these messages). Then, you will be able to import sensor_msgs.Image to your project. Hope it helps!