原本想要用image_transport來將compressed圖像republish成raw的，結果使用過程當中遇到找不到image_transport.這一點很矛盾，由於一直都在用這個，一下是遇到的問題集錦；bash
1. 首先是找不到list_transport:.net
s———n@shinan:/opt/ros/kinetic/lib/image_transport$ rosrun image_transport list_transports [rosrun] Couldn't find executable named list_transports below /opt/ros/kinetic/share/image_transport
查找發現/opt/ros/kinetic/lib/image_transport 裏面有對應的list_transports的可執行文件，可是在share下沒有，將lib下對應的可執行文件list_transport和republish拷貝進去。
而後便可執行rosrun image_transport list_transports；返回了對應的list：code
image_transport/compressed image_transport/compressedDepth image_transport/h264 image_transport/raw image_transport/theora
可是執行：ip
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
仍是沒有反應，不會提示出錯，也不會終止程序
這時能夠嘗試播放包，好比個人：
rosbag play 2020-05-27-09-28-53.bagget
這個包的信息以下：同步
types: sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f] topics: /usb_cam150/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage /usb_cam180/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage
s@s:/media/s/DATA/ROSbag/150+180/calib$ rosbag play 2020-05-27-09-28-53.bag 博客
可是若是同時運行播包和republish就能夠看到兩個多出來幾個個topic以下：io
/clock /image_republisher_1597290710044689526/compressed/parameter_descriptions /image_republisher_1597290710044689526/compressed/parameter_updates /image_republisher_1597290789065015274/compressed/parameter_descriptions /image_republisher_1597290789065015274/compressed/parameter_updates /rosout /rosout_agg /usb_cam150/image_raw /usb_cam150/image_raw/compressed /usb_cam180/image_raw /usb_cam180/image_raw/compressed
其中/usb_cam150/image_raw 和/usb_cam180/image_raw 是咱們須要的;table
總結來說，咱們的目的是將包含壓縮圖像的bag轉換成包含raw圖像的bag，所須要的指令以下：
先運行：class
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw rosrun image_transport republish compressed in:=/usb_cam180/image_raw raw out:=/usb_cam180/image_raw
再運行：
rosbag record -o raw.bag /usb_cam150/image_raw /usb_cam180/image_raw
最後運行：
rosbag play 2020-05-27-09-28-53.bag
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