Publish image from Unity

edit

I'm trying to send an image (Texture2D) to RosBridge running on Ubuntu. Simple data types work well - floats, points.

Here is my code:

void SendUncompressedImage(Texture2D _image)
{
var timeMessage = new TimeMsg(timeSinceStart.Seconds, timeSinceStart.Milliseconds);
var headerMessage = new HeaderMsg(count, timeMessage, "camera");
byte[] data = _image.GetRawTextureData();
string picString = Convert.ToBase64String(data);

// set format
string encodingString = "rgb8";

JSONClass imageJson = CreateImageJsonNode(
headerMessage, // Header
(uint)camTexture.width, // width
(uint)camTexture.height, // height
encodingString, // encoding
false, // is_bigendian
(uint)camTexture.width * (uint)4, // step
picString); // data


// public ImageMsg(HeaderMsg header, uint height, uint width, string encoding, bool is_bigendian, uint row_step, byte[] data)
var imageMsg = new ImageMsg(headerMessage, (uint)camTexture.width, (uint)camTexture.height, encodingString, false, (uint)36, data);
ros.Publish(ImagePublisher.GetMessageTopic(), imageMsg);
}

In ros rqt, I get this error:

ImageView.callback_image() while trying to convert image from 'rgb8' to 'rgb8' an exception was thrown (Image is wrongly formed: height * step != size or 1 * 36 != 0)

Thanks for any help.