Image bridge using image_transport

[chapulina]

We've been bridging images directly with ros1_ign_bridge, but for some use cases, it's interesting to bring the power of image_transport and its plugins for features like compression.

This PR adds a new package, ros1_ign_image, which is documented on its README.

Also check out the new demo on ros1_ign_gazebo_demos that exercises the new package.

[iche033]

I'm getting a few errors about target name conflicts with the ones declared in ros1_ign_bridge when building the workspace using catkin_make

I just had to change the target name. This worked for me:

diff --git a/ros1_ign_image/CMakeLists.txt b/ros1_ign_image/CMakeLists.txt
index 03d926c..e80fbd2 100644
--- a/ros1_ign_image/CMakeLists.txt
+++ b/ros1_ign_image/CMakeLists.txt
@@ -56,10 +56,10 @@ set(test_subscribers
 )
 
 foreach(test_publisher ${test_publishers})
-  add_executable(${test_publisher}
+  add_executable(${test_publisher}_image
     test/publishers/${test_publisher}.cpp
   )
-  target_link_libraries(${test_publisher}
+  target_link_libraries(${test_publisher}_image
     ${catkin_LIBRARIES}
     ignition-msgs${IGN_MSGS_VER}::core
     ignition-transport${IGN_TRANSPORT_VER}::core
@@ -69,10 +69,10 @@ foreach(test_publisher ${test_publishers})
 endforeach(test_publisher)
 
 foreach(test_subscriber ${test_subscribers})
-  add_rostest_gtest(test_${test_subscriber}
+  add_rostest_gtest(test_${test_subscriber}_image
     test/${test_subscriber}.test
     test/subscribers/${test_subscriber}.cpp)
-  target_link_libraries(test_${test_subscriber}
+  target_link_libraries(test_${test_subscriber}_image
     ${catkin_LIBRARIES}
     ignition-msgs${IGN_MSGS_VER}::core
     ignition-transport${IGN_TRANSPORT_VER}::core
diff --git a/ros1_ign_image/test/launch/test_ros1_subscriber.launch b/ros1_ign_image/test/launch/test_ros1_subscriber.launch
index 963baec..b280f65 100644
--- a/ros1_ign_image/test/launch/test_ros1_subscriber.launch
+++ b/ros1_ign_image/test/launch/test_ros1_subscriber.launch
@@ -7,6 +7,6 @@
   />
 
   <!-- Launch the Ignition Transport publisher -->
-  <node name="ign_publisher" pkg="ros1_ign_image" type="ign_publisher" />
+  <node name="ign_publisher" pkg="ros1_ign_image" type="ign_publisher_image" />
 
 </launch>
diff --git a/ros1_ign_image/test/ros1_subscriber.test b/ros1_ign_image/test/ros1_subscriber.test
index 6c43831..a32d713 100644
--- a/ros1_ign_image/test/ros1_subscriber.test
+++ b/ros1_ign_image/test/ros1_subscriber.test
@@ -4,6 +4,6 @@
   <include file="$(find ros1_ign_image)/test/launch/test_ros1_subscriber.launch">
   </include>
 
-  <test test-name="ign_ros1" pkg="ros1_ign_image" type="test_ros1_subscriber" time-limit="60.0" />
+  <test test-name="ign_ros1" pkg="ros1_ign_image" type="test_ros1_subscriber_image" time-limit="60.0" />
 
 </launch>

[chapulina]

Interesting, colcon must keep tests isolated even with merge-install. Added your changes: c7d6fab

[chapulina]

Reverted some README changes from #32 acbb6ed