source /opt/tros/local_setup.bash-
ros2 run image_transport list_transports
运行结果如下，展示了image_transport package支持的图像格式
root@ubuntu:/opt/tros# ros2 run image_transport list_transports Declared transports: image_transport/compressed image_transport/compressedDepth image_transport/raw image_transport/theora Details: ---------- “image_transport/compressed” - Provided by package: compressed_image_transport - Publisher: This plugin publishes a CompressedImage using either JPEG or PNG compression. - Subscriber: This plugin decompresses a CompressedImage topic. ---------- “image_transport/compressedDepth” - Provided by package: compressed_depth_image_transport - Publisher: This plugin publishes a compressed depth images using PNG compression. - Subscriber: This plugin decodes a compressed depth images. ---------- “image_transport/raw” - Provided by package: image_transport - Publisher: This is the default publisher. It publishes the Image as-is on the base topic. - Subscriber: This is the default pass-through subscriber for topics of type sensor_msgs/Image. ---------- “image_transport/theora” - Provided by package: theora_image_transport - Publisher: This plugin publishes a video packet stream encoded using Theora. - Subscriber: This plugin decodes a video packet stream encoded using Theora.
