图片发送：

mkdir image_sender

mkdir image_sender/src

cd image_sender/src/

ros2 pkg create image_sender_py --build-type ament_python --dependencies rclpy --node-name image_sender

vim image_sender_py/image_sender_py/image_sender.py

代码：

#encoding:utf-8
  
import rclpy
from rclpy.node import Node
import cv2
from cv_bridge import CvBridge, CvBridgeError
import numpy as np
import time
from sensor_msgs.msg import Image
import time
from sensor_msgs.msg import Image

class NodePublisher(Node):
    def __init__(self, name):
        super().__init__(name)
        self.get_logger().info("Hi, I am %s!" %name)

def main(args=None):
    image_path = "/tmp/bus.jpeg"
    image = cv2.imread(image_path)

    rclpy.init()
    node = NodePublisher('Camera_image')
    image_pub = node.create_publisher(Image, "image_data", 10)
    bridge = CvBridge()

    while True:
        data = bridge.cv2_to_imgmsg(image, encoding="bgr8")
        image_pub.publish(data)
        time.sleep(0.04)

cd ..

colcon build

. install/setup.sh

ros2 run image_sender_py image_sender

显示：
[INFO] [1703339500.883404231] [Camera_image]: Hi, I am Camera_image!

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接收图片：