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5.1.5 Using ROS2 package

Prerequisite: TogetheROS.Bot has been successfully installed.

tros.b is fully compatible with ROS2 Foxy/Humble APIs and can reuse the rich set of ROS2 tools. Here, we demonstrate how to use ROS packages in tros.b by installing and using the ROS2 image_transport package as an example.

Installing ROS2 Packages​

1 Add ROS apt Repository​

When installing tros.b, the ROS apt repository has already been added automatically—no manual addition is required.

Update the apt repository:

sudo apt update
Note

If the sudo apt update command fails or returns an error, please refer to the FAQ section Common Issues, specifically Q10: How to handle failures or errors when running apt update? for solutions.

2 Install Packages​

sudo apt install ros-foxy-image-transport
sudo apt install ros-foxy-image-transport-plugins

Using ROS2 Packages​

Usage is identical to standard ROS2:

source /opt/tros/setup.bash
ros2 run image_transport list_transports

The output below shows the image formats supported by the image_transport package:

root@ubuntu:/opt/tros# ros2 run image_transport list_transports
Declared transports:
image_transport/compressed
image_transport/compressedDepth
image_transport/raw
image_transport/theora

Details:
----------
"image_transport/compressed"
 - Provided by package: compressed_image_transport
 - Publisher:
      This plugin publishes a CompressedImage using either JPEG or PNG compression.

 - Subscriber:
      This plugin decompresses a CompressedImage topic.

----------
"image_transport/compressedDepth"
 - Provided by package: compressed_depth_image_transport
 - Publisher:
      This plugin publishes a compressed depth images using PNG compression.

 - Subscriber:
      This plugin decodes a compressed depth images.

----------
"image_transport/raw"
 - Provided by package: image_transport
 - Publisher:
      This is the default publisher. It publishes the Image as-is on the base topic.

 - Subscriber:
      This is the default pass-through subscriber for topics of type sensor_msgs/Image.

----------
"image_transport/theora"
 - Provided by package: theora_image_transport
 - Publisher:
      This plugin publishes a video packet stream encoded using Theora.

 - Subscriber:
      This plugin decodes a video packet stream encoded using Theora.
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