Merge pull request #20 from Wiktor-99/add_image_transport_py

Add image_transport_py

Author: Wiktor-99

.devcontainer/Dockerfile

@@ -23,6 +23,8 @@ ENV DEBIAN_FRONTEND=noninteractive
 RUN sudo apt-get update --fix-missing \
     && apt-get -y install bash-completion ros-$ROS_DISTRO-rmw-cyclonedds-cpp ros-$ROS_DISTRO-generate-parameter-library \
     ros-$ROS_DISTRO-message-filters \
+    ros-$ROS_DISTRO-image-transport \
+    ros-$ROS_DISTRO-image-transport-py \
     python3-pip pre-commit \
     && pip3 install numpy==1.26.4 --break-system-packages \
     && pip3 install --ignore-installed mediapipe --break-system-packages\

human_detector/human_detector/human_detector.py

@@ -8,6 +8,7 @@
 from rclpy.time import Time
 from rclpy.lifecycle import LifecycleNode
 from rclpy.lifecycle.node import LifecycleState, TransitionCallbackReturn
+from image_transport_py import ImageTransport
 from sensor_msgs.msg import CameraInfo, Image
 from rclpy.qos_overriding_options import QoSOverridingOptions
 from rclpy.qos import qos_profile_sensor_data
@@ -45,7 +46,8 @@ def on_configure(self, previous_state: LifecycleState):
         self.initialize_sync_subscribers()
 
         if self.parameters.publish_image_with_detected:
-            self.image_with_detected_human_pub = self.create_publisher(Image, "image_with_detected_human", 10)
+            self.image_transport = ImageTransport("compressed_image_with_detected_human_pub", "compressed")
+            self.image_with_detected_human_pub = self.image_transport.advertise("image_with_detected_human", 10)
         self.timer = self.create_timer(1 / self.parameters.detected_human_transform_frequency, self.timer_callback)
         self.timer.cancel()
 

human_detector/package.xml

@@ -18,6 +18,8 @@
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>python3-opencv</exec_depend>
   <exec_depend>message_filters</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>image_transport_py</exec_depend>
 
   <export>
     <build_type>ament_python</build_type>