http://wiki.ros.org/image_transport
使用image_transport
发布图像节点会自动连同发布对应压缩节点<base_topic>/compressed (sensor_msgs/CompressedImage)
image_transport
教程:http://wiki.ros.org/image_transport/Tutorials
若只是想在原节点上再多发布一个压缩节点可直接运行命令(要安装包ros-$ROS_DISTRO-image-transport
和ros-$ROS_DISTRO-image-transport-plugins
)
rosrun image_transport republish raw in:=/usb_cam/image_raw compressed out:=/usb_cam/image_raw