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Add zlib image plugin
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
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‎image_transport_plugins/package.xml‎

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<exec_depend>compressed_depth_image_transport</exec_depend>
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<exec_depend>compressed_image_transport</exec_depend>
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<exec_depend>theora_image_transport</exec_depend>
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<exec_depend>zlib_image_transport</exec_depend>
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<exec_depend>zstd_image_transport</exec_depend>
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<export>

‎zlib_image_transport/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.20)
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project(zlib_image_transport)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(ZLIB REQUIRED)
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include_directories(include)
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add_library(
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${PROJECT_NAME} SHARED
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src/zlib_wrapper.cpp
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src/zlib_publisher.cpp
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src/zlib_subscriber.cpp
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src/manifest.cpp
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)
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target_link_libraries(${PROJECT_NAME}
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ZLIB::ZLIB
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image_transport::image_transport
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rclcpp::rclcpp
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pluginlib::pluginlib
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${sensor_msgs_TARGETS}
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)
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(
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DIRECTORY "include/"
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DESTINATION include
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)
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pluginlib_export_plugin_description_file(image_transport zlib_plugins.xml)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎zlib_image_transport/include/zlib_image_transport/zlib_common.hpp‎

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// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_
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#define ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_
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#include <rclcpp/parameter_value.hpp>
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#include <rcl_interfaces/msg/parameter_descriptor.hpp>
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namespace zlib_image_transport
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{
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using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
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using ParameterValue = rclcpp::ParameterValue;
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struct ParameterDefinition
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{
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const ParameterValue defaultValue;
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const ParameterDescriptor descriptor;
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};
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} // namespace zlib_image_transport
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#endif // ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_

‎zlib_image_transport/include/zlib_image_transport/zlib_publisher.hpp‎

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// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_
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#define ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_
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#include <string>
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#include <vector>
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#include <unordered_set>
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#include <sensor_msgs/msg/image.hpp>
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#include <sensor_msgs/msg/compressed_image.hpp>
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#include <image_transport/node_interfaces.hpp>
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#include <image_transport/simple_publisher_plugin.hpp>
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#include <rclcpp/node.hpp>
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#include "zlib_image_transport/zlib_common.hpp"
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namespace zlib_image_transport
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{
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using CompressedImage = sensor_msgs::msg::CompressedImage;
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using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
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class ZlibPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
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{
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public:
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ZlibPublisher();
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~ZlibPublisher() override = default;
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std::string getTransportName() const override;
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protected:
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void advertiseImpl(
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image_transport::RequiredInterfaces node_interfaces,
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const std::string & base_topic,
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rclcpp::QoS custom_qos,
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rclcpp::PublisherOptions options) final;
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void publish(
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const sensor_msgs::msg::Image & message,
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const PublisherT & publisher) const override;
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rclcpp::Logger logger_;
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rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_param_interface_;
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
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private:
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std::vector<std::string> parameters_;
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std::unordered_set<std::string> deprecated_parameters_;
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rclcpp::node_interfaces::PreSetParametersCallbackHandle::SharedPtr
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pre_set_parameter_callback_handle_;
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void declareParameter(
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const std::string & base_name,
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const ParameterDefinition & definition);
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void preSetParametersCallback(std::vector<rclcpp::Parameter> & parameters);
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};
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} // namespace zlib_image_transport
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#endif // ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_

‎zlib_image_transport/include/zlib_image_transport/zlib_subscriber.hpp‎

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// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_
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#define ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_
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#include <string>
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#include <vector>
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#include <rclcpp/node.hpp>
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#include <rclcpp/subscription_options.hpp>
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#include <sensor_msgs/msg/image.hpp>
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#include <sensor_msgs/msg/compressed_image.hpp>
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#include <image_transport/node_interfaces.hpp>
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#include <image_transport/simple_subscriber_plugin.hpp>
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#include "zlib_image_transport/zlib_common.hpp"
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namespace zlib_image_transport
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{
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using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
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class ZlibSubscriber final
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: public image_transport::SimpleSubscriberPlugin<sensor_msgs::msg::CompressedImage>
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{
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public:
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ZlibSubscriber();
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virtual ~ZlibSubscriber() = default;
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std::string getTransportName() const override;
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protected:
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void subscribeImpl(
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image_transport::RequiredInterfaces node_interfaces,
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const std::string & base_topic,
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const Callback & callback,
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rclcpp::QoS custom_qos,
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rclcpp::SubscriptionOptions options) override;
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void internalCallback(
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const sensor_msgs::msg::CompressedImage::ConstSharedPtr & message,
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const Callback & user_cb) override;
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rclcpp::Logger logger_;
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};
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} // namespace zlib_image_transport
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#endif // ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_

‎zlib_image_transport/package.xml‎

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<package format="2">
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<name>zlib_image_transport</name>
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<version>6.2.2</version>
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<description>
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zlib_image_transport provides a plugin to image_transport for transparently sending images
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encoded as zlib (deflate) blobs.
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</description>
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<maintainer email="acordero@honurobotics.com">Alejandro Hernandez Cordero</maintainer>
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<license>BSD</license>
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<url type="website">https://docs.ros.org/en/rolling/p/image_transport/</url>
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<author>Alejandro Hernandez Cordero</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>image_transport</depend>
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<depend>pluginlib</depend>
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<depend>rclcpp</depend>
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<depend>sensor_msgs</depend>
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<depend>zlib</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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<image_transport plugin="${prefix}/zlib_plugins.xml" />
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</export>
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</package>

‎zlib_image_transport/src/manifest.cpp‎

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// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <pluginlib/class_list_macros.hpp>
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#include "zlib_image_transport/zlib_publisher.hpp"
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#include "zlib_image_transport/zlib_subscriber.hpp"
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PLUGINLIB_EXPORT_CLASS(zlib_image_transport::ZlibPublisher, image_transport::PublisherPlugin)
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PLUGINLIB_EXPORT_CLASS(zlib_image_transport::ZlibSubscriber, image_transport::SubscriberPlugin)

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