HI, I'm trying to publish my image data from usb_cam to the following topics.

I'm not sure on how do i create a node that would communicate with these topics

/base_waypoints
/camera_info
/current_pose
/current_velocity
/final_waypoints
/image_color
/image_color/compressed
/image_color/compressed/parameter_descriptions
/image_color/compressed/parameter_updates
/image_color/compressedDepth
/image_color/compressedDepth/parameter_descriptions
/image_color/compressedDepth/parameter_updates
/image_color/theora
/image_color/theora/parameter_descriptions
/image_color/theora/parameter_updates
/image_mono
/image_mono/compressed
/image_mono/compressed/parameter_descriptions
/image_mono/compressed/parameter_updates
/image_mono/compressedDepth
/image_mono/compressedDepth/parameter_descriptions
/image_mono/compressedDepth/parameter_updates
/image_mono/theora
/image_mono/theora/parameter_descriptions
/image_mono/theora/parameter_updates
/image_proc_debayer/parameter_descriptions
/image_proc_debayer/parameter_updates
/image_proc_rectify_color/parameter_descriptions
/image_proc_rectify_color/parameter_updates
/image_proc_rectify_mono/parameter_descriptions
/image_proc_rectify_mono/parameter_updates
/image_raw
/image_rect
/image_rect/compressed
/image_rect/compressed/parameter_descriptions
/image_rect/compressed/parameter_updates
/image_rect/compressedDepth
/image_rect/compressedDepth/parameter_descriptions
/image_rect/compressedDepth/parameter_updates
/image_rect/theora
/image_rect/theora/parameter_descriptions
/image_rect/theora/parameter_updates
/image_rect_color
/image_rect_color/compressed
/image_rect_color/compressed/parameter_descriptions
/image_rect_color/compressed/parameter_updates
/image_rect_color/compressedDepth
/image_rect_color/compressedDepth/parameter_descriptions
/image_rect_color/compressedDepth/parameter_updates
/image_rect_color/theora
/image_rect_color/theora/parameter_descriptions
/image_rect_color/theora/parameter_updates
/rosout
/rosout_agg
/tf
/tf_static
/traffic_waypoint
/twist_cmd

Any idea what should I be doing next?