[ROS2] Support for CompressedImage

[vcozzolino]

I noticed that the ROS2 Camera has a fixed message type of kind Image, an uncompressed format. Is there any planned support for CompressedImage?

Sending uncompressed images over the wire is very taxing on the channel bandwidth and is generally discouraged in networked systems.

[adamdbrw]

It is not planned but a relatively easy feature to add:

• Add a configuration option (bool)
• create publisher type based on the option
• before publishing, compress if the flag is on

Is this something you would consider contributing?

[vcozzolino]

Thanks for the reply. This is a relatively low-priority feature for us at the moment. If we go ahead and implement it, I will open a PR.