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It looks like you're trying to publish the OpenCV image directly. From what I can recall, you need to convert it to an Image message before you can publish it. To do that use, cv_bridge. Here's a brief example that should help you get started (I've included only the bare minimum, for more info see the tutorial on the wiki)

from cv_bridge import CvBridge

...

bridge = CvBridge()

...

pub.publish(bridge.cv2_to_imgmsg(frame, "bgr8"))