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The Compressed Image is not necessarily heavier for the system, because there is a tradeoff between:

  • image size & pixel depth
  • CPU usage on the robot
  • bandwidth off the robot
  • CPU usage on some more powerful server machine

If you have enough CPU on the robot to do compression (or especially if the camera already does it for you), then the Compressed Image can work better overall. I would advise you to look for ways to transport the image data NOT using ROS topics - in my experience, they are not really designed for efficient high-bandwidth data transfer.