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How to use imagezero_transport package?

asked 2019-04-15 17:04:08 -0600

budhie gravatar image

updated 2019-04-15 17:04:54 -0600

Hello guys, I am new in ROS and trying to do some project that contain image transport in it. By using image transport without any compression, it seems like quite lagging. So I tried to search for some compressed method to get the highest transport speed on image and found this package. But I have no idea how to use it. There's publish and subscribe cpp code on github and still i cant figure it out how to use it. Can anyone here please give some tutorial on how to use this package? Any help will be appreciate, thanks before,

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answered 2020-10-21 13:53:05 -0600

I realize this question is pretty old, but I just found it, and since there have been no answers yet, I thought I'd offer one...

First, make sure you've read over the documentation for image_transport:

Using the imagezero transport works just like selecting the compressed transport. As long as the ros-${ROSDISTRO}-imagezero-transport package is installed on the computers doing the publishing & subscribing, you can select the imagezero transport instead. You can do that by creating a TransportHints object that you pass to image_transport::ImageTransport::subscribe; just set its default_transport argument to imagezero.

More documentation on TransportHints is available here:

You can also set ROS params to control the transport, as seen here:

By the way, it is important to note that if you're using ImageZero, it specifically only works with 24-bit color image formats. Other formats (such as Monochrome or Bayer) will not work; this is a limitation of the compression algorithm.

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Asked: 2019-04-15 17:04:08 -0600

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Last updated: Oct 21 '20