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Overview

image_publisher provides a node/nodelets for publishing image as a ROS image topic.

Simplest example are

rosrun image_publisher image_publisher /opt/ros/indigo/share/rviz/images/splash.png

Complex launchfile example

<launch>                                                                        
  <node pkg="image_publisher" type="image_publisher" name="image_publisher"
        args="$(find rviz)/images/splash.png" >
    <param name="flip_horizontal" value="false" />
    <param name="flip_vertical" value="false" />
    <param name="frame_id" value="my_camera" />
    <param name="publish_rate" value="1" />
    <param name="camera_info_url" value="file:///$(env HOME)/.ros/camera_info/camera.yaml" />   <!-- relative to ~/.ros/ -->
  </node>
</launch>

More complex nodelet example using launch file

<launch>                                                                        
  <node pkg="nodelet" type="nodelet" name="manager" args="manager"/>

  <node pkg="nodelet" type="nodelet" name="image_publisher"
        args="load image_publisher/image_publisher manager">
    <param name="filename" value="$(find rviz)/images/splash.png" />
    <param name="flip_horizontal" value="false" />
    <param name="flip_vertical" value="false" />
  </node>
  <param name="/manager/frame_id" value="my_camera" />
  <param name="/manager/publish_rate" value="1" />
  <param name="camera_info_url" value="file:///$(env HOME)/.ros/camera_info/camera.yaml" />  <!-- relative to ~/.ros/ -->
</launch>

Node

image_publisher

Node to publish sensor_msgs/Image, requires filename argument.

Published Topics

image_raw (sensor_msgs/Image)

• ROS Image message of your input file.

camera_info (sensor_msgs/CameraInfo)

• CameraInfo published along with Image

Parameters

filename (string, default: "")

• Name of image file to be published.

flip_horizontal (bool, default: false)

• Flip output image horizontally.

flip_vertical (bool, default: false)

• Flip output image vertically.

frame_id (string, default: "camera")

• Frame id inserted in published image and camera_info.

publish_rate (double, default: 10)

• Rate to publish image (hz).

camera_info_uri (string, default: "")

• Path to camera info.

Nodelets

image_publisher/image_publisher

Nodelet to publish sensor_msgs/Image

Published Topics

image_raw (sensor_msgs/Image)

• ROS Image message of your input file.

camera_info (sensor_msgs/CameraInfo)

• CameraInfo published along with Image

Parameters

Same as image_publisher node ()