Add zlib image plugin

image_transport_plugins/package.xml

@@ -26,6 +26,7 @@
   <exec_depend>compressed_depth_image_transport</exec_depend>
   <exec_depend>compressed_image_transport</exec_depend>
   <exec_depend>theora_image_transport</exec_depend>
+  <exec_depend>zlib_image_transport</exec_depend>
   <exec_depend>zstd_image_transport</exec_depend>
 
   <export>

zlib_image_transport/CMakeLists.txt

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.20)
+
+project(zlib_image_transport)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(ZLIB REQUIRED)
+
+include_directories(include)
+
+add_library(
+  ${PROJECT_NAME} SHARED
+  src/zlib_wrapper.cpp
+  src/zlib_publisher.cpp
+  src/zlib_subscriber.cpp
+  src/manifest.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ZLIB::ZLIB
+  image_transport::image_transport
+  rclcpp::rclcpp
+  pluginlib::pluginlib
+  ${sensor_msgs_TARGETS}
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY "include/"
+  DESTINATION include
+)
+
+pluginlib_export_plugin_description_file(image_transport zlib_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

zlib_image_transport/include/zlib_image_transport/zlib_common.hpp

@@ -0,0 +1,48 @@
+// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_
+#define ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_
+
+#include <rclcpp/parameter_value.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
+namespace zlib_image_transport
+{
+using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
+using ParameterValue = rclcpp::ParameterValue;
+
+struct ParameterDefinition
+{
+  const ParameterValue defaultValue;
+  const ParameterDescriptor descriptor;
+};
+}  // namespace zlib_image_transport
+
+#endif  // ZLIB_IMAGE_TRANSPORT__ZLIB_COMMON_HPP_

zlib_image_transport/include/zlib_image_transport/zlib_publisher.hpp

@@ -0,0 +1,91 @@
+// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_
+#define ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_
+
+#include <string>
+#include <vector>
+#include <unordered_set>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/node_interfaces.hpp>
+#include <image_transport/simple_publisher_plugin.hpp>
+
+#include <rclcpp/node.hpp>
+
+#include "zlib_image_transport/zlib_common.hpp"
+
+namespace zlib_image_transport
+{
+
+using CompressedImage = sensor_msgs::msg::CompressedImage;
+using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
+
+class ZlibPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
+{
+public:
+  ZlibPublisher();
+  ~ZlibPublisher() override = default;
+
+  std::string getTransportName() const override;
+
+protected:
+  void advertiseImpl(
+    image_transport::RequiredInterfaces node_interfaces,
+    const std::string & base_topic,
+    rclcpp::QoS custom_qos,
+    rclcpp::PublisherOptions options) final;
+
+  void publish(
+    const sensor_msgs::msg::Image & message,
+    const PublisherT & publisher) const override;
+
+  rclcpp::Logger logger_;
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_param_interface_;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
+
+private:
+  std::vector<std::string> parameters_;
+  std::unordered_set<std::string> deprecated_parameters_;
+
+  rclcpp::node_interfaces::PreSetParametersCallbackHandle::SharedPtr
+    pre_set_parameter_callback_handle_;
+
+  void declareParameter(
+    const std::string & base_name,
+    const ParameterDefinition & definition);
+
+  void preSetParametersCallback(std::vector<rclcpp::Parameter> & parameters);
+};
+
+}  // namespace zlib_image_transport
+
+#endif  // ZLIB_IMAGE_TRANSPORT__ZLIB_PUBLISHER_HPP_

zlib_image_transport/include/zlib_image_transport/zlib_subscriber.hpp

@@ -0,0 +1,77 @@
+// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_
+#define ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_
+
+#include <string>
+#include <vector>
+
+#include <rclcpp/node.hpp>
+#include <rclcpp/subscription_options.hpp>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/node_interfaces.hpp>
+#include <image_transport/simple_subscriber_plugin.hpp>
+
+#include "zlib_image_transport/zlib_common.hpp"
+
+namespace zlib_image_transport
+{
+
+using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
+
+class ZlibSubscriber final
+  : public image_transport::SimpleSubscriberPlugin<sensor_msgs::msg::CompressedImage>
+{
+public:
+  ZlibSubscriber();
+  virtual ~ZlibSubscriber() = default;
+
+  std::string getTransportName() const override;
+
+protected:
+  void subscribeImpl(
+    image_transport::RequiredInterfaces node_interfaces,
+    const std::string & base_topic,
+    const Callback & callback,
+    rclcpp::QoS custom_qos,
+    rclcpp::SubscriptionOptions options) override;
+
+  void internalCallback(
+    const sensor_msgs::msg::CompressedImage::ConstSharedPtr & message,
+    const Callback & user_cb) override;
+
+  rclcpp::Logger logger_;
+};
+
+}  // namespace zlib_image_transport
+
+#endif  // ZLIB_IMAGE_TRANSPORT__ZLIB_SUBSCRIBER_HPP_

zlib_image_transport/package.xml

@@ -0,0 +1,29 @@
+<package format="2">
+  <name>zlib_image_transport</name>
+  <version>6.2.2</version>
+  <description>
+    zlib_image_transport provides a plugin to image_transport for transparently sending images
+    encoded as zlib (deflate) blobs.
+  </description>
+  <maintainer email="acordero@honurobotics.com">Alejandro Hernandez Cordero</maintainer>
+  <license>BSD</license>
+
+  <url type="website">https://docs.ros.org/en/rolling/p/image_transport/</url>
+  <author>Alejandro Hernandez Cordero</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>image_transport</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>zlib</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <image_transport plugin="${prefix}/zlib_plugins.xml" />
+  </export>
+</package>

zlib_image_transport/src/manifest.cpp

@@ -0,0 +1,35 @@
+// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <pluginlib/class_list_macros.hpp>
+#include "zlib_image_transport/zlib_publisher.hpp"
+#include "zlib_image_transport/zlib_subscriber.hpp"
+
+PLUGINLIB_EXPORT_CLASS(zlib_image_transport::ZlibPublisher, image_transport::PublisherPlugin)
+PLUGINLIB_EXPORT_CLASS(zlib_image_transport::ZlibSubscriber, image_transport::SubscriberPlugin)