ROS发布压缩图像的代码

以下是一个发布压缩图像的ROS节点的示例代码：

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CompressedImage.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "image_publisher");
    ros::NodeHandle nh;
    image_transport::ImageTransport it(nh);
    image_transport::Publisher pub = it.advertise("/compressed_image", 1);

    cv::VideoCapture cap(0);
    if(!cap.isOpened())
    {
        ROS_ERROR("Failed to open camera.");
        return -1;
    }

    ros::Rate loop_rate(30);
    while(ros::ok())
    {
        cv::Mat frame;
        cap >> frame;
        if(frame.empty())
        {
            ROS_ERROR("Failed to capture frame.");
            break;
        }

        sensor_msgs::CompressedImage msg;
        msg.header.stamp = ros::Time::now();
        msg.format = "jpeg";
        cv::imencode(".jpg", frame, msg.data);

        pub.publish(msg);
        ros::spinOnce();
        loop_rate.sleep();
    }

    return 0;
}

这个节点使用OpenCV从摄像头捕获图像，并将压缩后的图像发布到ROS话题“/compressed_image”上。