depth_image_proc point_cloud_xyzrgb transport support [closed]

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Hello,

I wonder if I can use different image_transport for point_cloud_xyzrgb.

I was trying to stream pointcloud from a robot to remote workstation. But it was eating too much bandwith and slow. So instead of subscribing pointcloud, I am thinking of setting up image_pipeline on remote workstation which subscribes compressed depth_image and rgb image and publish point cloud data.

However, I figured that depth image has its own compressed version of image transport. So I couldn't use other than 'raw' transport for point_cloud_xyzrgb pipeline.

Could anybody help me to get point_cloud_xyzrgb transport working with compressed data?