From 1c50e01ed19c7a41719ad322ee646db4007acf83 Mon Sep 17 00:00:00 2001
From: James Pace <jpace121@gmail.com>
Date: Mon, 5 Jan 2026 10:49:39 -0500
Subject: [PATCH] Publish compressed image.

---
 src/ImagePublisher.cpp | 21 +++++++++++----------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/src/ImagePublisher.cpp b/src/ImagePublisher.cpp
index 566bd89..e3e023d 100644
--- a/src/ImagePublisher.cpp
+++ b/src/ImagePublisher.cpp
@@ -1,6 +1,6 @@
 #include <rclcpp/rclcpp.hpp>
-#include <image_transport/image_transport.hpp>
 #include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
 #include <std_msgs/msg/header.hpp>
 #include <cv_bridge/cv_bridge.hpp>
 
@@ -18,35 +18,36 @@ namespace j7s {
     public:
         ImagePublisher(const rclcpp::NodeOptions& options);
     private:
-        image_transport::ImageTransport m_transport;
-        image_transport::Publisher m_publisher;
+        std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>> m_publisher;
+        std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::CompressedImage>> m_compressedPublisher;
         rclcpp::TimerBase::SharedPtr m_timer;
 
-        sensor_msgs::msg::Image::SharedPtr draw_image();
+        std::tuple<sensor_msgs::msg::Image::SharedPtr, sensor_msgs::msg::CompressedImage::SharedPtr> draw_image();
     };
 };
 
 namespace j7s {
     ImagePublisher::ImagePublisher(const rclcpp::NodeOptions& options):
         Node("image_publisher", options),
-        m_transport(std::shared_ptr<rclcpp::Node>(this)),
-        m_publisher(m_transport.advertise("image", 1)),
+        m_publisher(this->create_publisher<sensor_msgs::msg::Image>("image", 1)),
+        m_compressedPublisher(this->create_publisher<sensor_msgs::msg::CompressedImage>("image/compressed", 1)),
         m_timer{}
     {
         m_timer = this->create_timer(10ms, [this]() -> void {
-            const auto msg = draw_image();
-            m_publisher.publish(msg);
+            const auto [image, compressedImage] = draw_image();
+            m_publisher->publish(*image);
+            m_compressedPublisher->publish(*compressedImage);
         });
     }
 
-    sensor_msgs::msg::Image::SharedPtr ImagePublisher::draw_image()
+    std::tuple<sensor_msgs::msg::Image::SharedPtr, sensor_msgs::msg::CompressedImage::SharedPtr> ImagePublisher::draw_image()
     {
         cv::Mat mat = cv::Mat::zeros(200, 200, CV_8UC3);
 
         std_msgs::msg::Header header;
         header.stamp = this->now();
         cv_bridge::CvImage image(header, "mono8", mat);
-        return image.toImageMsg();
+        return std::tuple(image.toImageMsg(), image.toCompressedImageMsg());
     }
 };