README

Image utilities for using ROS and Gazebo Transport

This package provides a unidirectional bridge for images from Gazebo to ROS. The bridge subscribes to Gazebo image messages (gz::msgs::Image) and republishes them to ROS using image_transport.

For compressed images, install compressed_image_transport and the bridge will publish /compressed images. The same goes for other image_transport plugins.

To run the bridge from the command line:

ros2 run ros_gz_image image_bridge /topic1 /topic2

Parameters

qos (string, default: "default")

Modify the Quality of Service (QoS) policy used to publish images. Accepted values: default, sensor_data, system_default.

ros2 run ros_gz_image image_bridge /topic1 /topic2 --ros-args -p qos:=sensor_data

lazy (bool, default: false)

When set to true, the bridge will only subscribe to the Gazebo topic when there is at least one ROS subscriber. This avoids unnecessary message processing when no one is listening.

ros2 run ros_gz_image image_bridge /topic1 /topic2 --ros-args -p lazy:=true

subscription_heartbeat (int, default: 1000)

Interval in milliseconds at which the bridge checks the ROS subscriber count to start or stop the Gazebo subscription. Only relevant when lazy:=true.

ros2 run ros_gz_image image_bridge /topic1 /topic2 --ros-args -p lazy:=true -p subscription_heartbeat:=500