Added new camera node, finished up most of UDEV with real names

rover/rover_cameras/CMakeLists.txt

@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rover_cameras)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES rover_cameras
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/rover_cameras.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/rover_cameras_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_rover_cameras.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_360p.launch

@@ -0,0 +1,9 @@
+<launch>
+	<group ns="cameras">
+		<node name="gimbal" pkg="cv_camera" type="cv_camera_node" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_gimbal" />
+			<param name="image_width" value="640" />
+			<param name="image_height" value="360" />
+		</node>
+	</group>
+</launch>

rover/rover_cameras/launch/camera_launches/gimbal/gimbal_camera_720p.launch

@@ -0,0 +1,12 @@
+<launch>
+	<group ns="cameras">
+		<node name="gimbal" pkg="usb_cam" type="usb_cam_node" output="screen" >
+			<param name="video_device" value="/dev/rover/camera_gimbal" />
+			<param name="image_width" value="1280" />
+			<param name="image_height" value="720" />
+			<param name="pixel_format" value="mjpeg" />
+			<param name="camera_frame_id" value="usb_cam1" />
+			<param name="io_method" value="mmap"/>
+		</node>
+	</group>
+</launch>

rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_360p.launch

@@ -0,0 +1,9 @@
+<launch>
+	<group ns="cameras">
+		<node name="main_navigation" pkg="cv_camera" type="cv_camera_node" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_main_navigation" />
+			<param name="image_width" value="640" />
+			<param name="image_height" value="360" />
+		</node>
+	</group>
+</launch>

rover/rover_cameras/launch/camera_launches/main_navigation/main_navigation_camera_720p.launch

@@ -0,0 +1,9 @@
+<launch>
+	<group ns="cameras">
+		<node name="main_navigation" pkg="cv_camera" type="cv_camera_node" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_main_navigation" />
+			<param name="image_width" value="1280" />
+			<param name="image_height" value="720" />
+		</node>
+	</group>
+</launch>

rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_360p.launch

@@ -0,0 +1,12 @@
+<launch>
+	<group ns="cameras">
+		<node name="undercarriage" pkg="usb_cam" type="usb_cam_node" output="screen" >
+			<param name="video_device" value="/dev/rover/camera_undercarriage" />
+			<param name="image_width" value="640" />
+			<param name="image_height" value="360" />
+			<param name="pixel_format" value="mjpeg" />
+			<param name="camera_frame_id" value="usb_cam1" />
+			<param name="io_method" value="mmap"/>
+		</node>
+	</group>
+</launch>

rover/rover_cameras/launch/camera_launches/undercarriage/undercarriage_camera_720p.launch

@@ -0,0 +1,12 @@
+<launch>
+	<group ns="cameras">
+		<node name="undercarriage" pkg="usb_cam" type="usb_cam_node" output="screen" >
+			<param name="video_device" value="/dev/rover/camera_undercarriage" />
+			<param name="image_width" value="1280" />
+			<param name="image_height" value="720" />
+			<param name="pixel_format" value="mjpeg" />
+			<param name="camera_frame_id" value="usb_cam1" />
+			<param name="io_method" value="mmap"/>
+		</node>
+	</group>
+</launch>

rover/rover_cameras/package.xml

@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rover_cameras</name>
+  <version>0.0.0</version>
+  <description>The rover_cameras package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nvidia@todo.todo">nvidia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/rover_cameras</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

rover/rover_main/launch/rover_main.launch

@@ -0,0 +1,19 @@
+<launch>
+	<group ns="cameras">
+		<node name="undercarriage" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_undercarriage" />
+	</node>
+
+
+	<node name="main_navigation" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_main_navigation" />
+		</node>
+
+	<node name="gimbal" pkg="image_transport_tutorial" type="my_publisher" output="screen" >
+			<param name="device_path" value="/dev/rover/camera_gimbal" />
+		</node>
+
+	</group>
+
+
+</launch>

rover/tutorial/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 2.8)
+project(image_transport_tutorial)
+
+find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
+
+# add the resized image message
+add_message_files(DIRECTORY msg
+   FILES ResizedImage.msg
+)
+generate_messages(DEPENDENCIES sensor_msgs)
+
+catkin_package(CATKIN_DEPENDS cv_bridge image_transport message_runtime sensor_msgs)
+
+find_package(OpenCV)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+# add the publisher example
+add_executable(my_publisher src/my_publisher.cpp)
+add_dependencies(my_publisher ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+target_link_libraries(my_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+# add the subscriber example
+#add_executable(my_subscriber src/my_subscriber.cpp)
+#add_dependencies(my_subscriber ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+#target_link_libraries(my_subscriber ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+# add the plugin example
+#add_library(resized_publisher src/manifest.cpp src/resized_publisher.cpp src/resized_subscriber.cpp)
+#add_dependencies(resized_publisher ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+#target_link_libraries(resized_publisher ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+
+# Mark executables and/or libraries for installation
+install(TARGETS my_publisher
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+#install(FILES resized_plugins.xml
+#        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+#)

rover/tutorial/include/image_transport_tutorial/resized_publisher.h

@@ -0,0 +1,15 @@
+#include <image_transport/simple_publisher_plugin.h>
+#include <image_transport_tutorial/ResizedImage.h>
+
+class ResizedPublisher : public image_transport::SimplePublisherPlugin<image_transport_tutorial::ResizedImage>
+{
+public:
+  virtual std::string getTransportName() const
+  {
+    return "resized";
+  }
+
+protected:
+  virtual void publish(const sensor_msgs::Image& message,
+                       const PublishFn& publish_fn) const;
+};

rover/tutorial/include/image_transport_tutorial/resized_subscriber.h

@@ -0,0 +1,17 @@
+#include <image_transport/simple_subscriber_plugin.h>
+#include <image_transport_tutorial/ResizedImage.h>
+
+class ResizedSubscriber : public image_transport::SimpleSubscriberPlugin<image_transport_tutorial::ResizedImage>
+{
+public:
+  virtual ~ResizedSubscriber() {}
+
+  virtual std::string getTransportName() const
+  {
+    return "resized";
+  }
+
+protected:
+  virtual void internalCallback(const typename image_transport_tutorial::ResizedImage::ConstPtr& message,
+                                const Callback& user_cb);
+};

rover/tutorial/msg/ResizedImage.msg

@@ -0,0 +1,3 @@
+uint32 original_height
+uint32 original_width
+sensor_msgs/Image image

rover/tutorial/package.xml

@@ -0,0 +1,26 @@
+<package>
+  <name>image_transport_tutorial</name>
+  <version>0.0.0</version>
+  <description>Tutorial for image_transport. This is useful for the tutorials at http://wiki.ros.org/image_transport/Tutorials/</description>
+  <author>Vincent Rabaud</author>
+  <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
+  <license>Apache 2.0</license>
+
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>opencv2</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>opencv2</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+    <image_transport plugin="${prefix}/resized_plugins.xml"/>
+  </export>
+</package>

rover/tutorial/resized_plugins.xml

@@ -0,0 +1,13 @@
+<library path="lib/libresized_image_transport">
+  <class name="resized_pub" type="ResizedPublisher" base_class_type="image_transport::PublisherPlugin">
+    <description>
+      This plugin publishes a decimated version of the image.
+    </description>
+  </class>
+
+  <class name="resized_sub" type="ResizedSubscriber" base_class_type="image_transport::SubscriberPlugin">
+    <description>
+      This plugin rescales a decimated image to its original size.
+    </description>
+  </class>
+</library>

rover/tutorial/src/manifest.cpp

@@ -0,0 +1,7 @@
+#include <pluginlib/class_list_macros.h>
+#include <image_transport_tutorial/resized_publisher.h>
+#include <image_transport_tutorial/resized_subscriber.h>
+
+PLUGINLIB_EXPORT_CLASS(ResizedPublisher, image_transport::PublisherPlugin)
+
+PLUGINLIB_EXPORT_CLASS(ResizedSubscriber, image_transport::SubscriberPlugin)

rover/tutorial/src/my_publisher.cpp

@@ -0,0 +1,74 @@
+#include <string.h>
+#include <iostream>
+
+#include <ros/ros.h>
+#include <ros/console.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/opencv.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <cv_bridge/cv_bridge.h>
+
+int main(int argc, char** argv)
+{
+    std::string capture_device_path;
+    int fps;
+    
+    int large_image_width;
+    int large_image_height;
+    int small_image_width;
+    int small_image_height;
+    
+    ros::init(argc, argv, "camera");
+    ros::NodeHandle node_handle("~");
+    
+    node_handle.param("device_path", capture_device_path, std::string("/dev/video0"));
+    node_handle.param("fps", fps, 30);
+    
+    node_handle.param("large_image_width", large_image_width, 1280);
+    node_handle.param("large_image_height", large_image_height, 720);
+    node_handle.param("small_image_width", small_image_width, 640);
+    node_handle.param("small_image_height", small_image_height, 360);
+        
+    cv::VideoCapture cap(capture_device_path);
+
+    cap.set(CV_CAP_PROP_FOURCC, CV_FOURCC('M', 'J', 'P', 'G'));
+    cap.set(CV_CAP_PROP_FRAME_WIDTH, large_image_width);
+    cap.set(CV_CAP_PROP_FRAME_HEIGHT, large_image_height);
+    cap.set(CV_CAP_PROP_FPS, fps);
+
+    if(cap.isOpened() == false){
+        return -1;
+    }
+    
+    image_transport::ImageTransport full_res_image_transport(node_handle);
+    image_transport::ImageTransport lower_res_image_transport(node_handle);
+    
+    image_transport::Publisher full_size_publisher = full_res_image_transport.advertise("image_720p", 1);
+    image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise("image_360p", 1);
+
+    cv::Mat image;
+    cv::Mat image_smaller;
+
+    ros::Rate loop_rate(fps + 5);
+    
+    
+    while (node_handle.ok()) {
+        
+        cap.read(image);
+        
+        if(!image.empty()){
+            cv::resize(image, image_smaller, cv::Size(small_image_width, small_image_height));
+            
+            sensor_msgs::ImagePtr full_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
+            sensor_msgs::ImagePtr lower_res_message = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image_smaller).toImageMsg();
+            
+            full_size_publisher.publish(full_res_message);
+            lower_size_publisher.publish(lower_res_message);
+        }
+        
+        ros::spinOnce();
+        loop_rate.sleep();
+    }
+}
+

rover/tutorial/src/my_subscriber.cpp

@@ -0,0 +1,29 @@
+#include <ros/ros.h>
+#include <image_transport/image_transport.h>
+#include <opencv2/highgui/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+void imageCallback(const sensor_msgs::ImageConstPtr& msg)
+{
+  try
+  {
+    cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);
+    cv::waitKey(10);
+  }
+  catch (cv_bridge::Exception& e)
+  {
+    ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+  }
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "image_listener");
+  ros::NodeHandle nh;
+  cv::namedWindow("view");
+  cv::startWindowThread();
+  image_transport::ImageTransport it(nh);
+  image_transport::Subscriber sub = it.subscribe("camera/image", 1, imageCallback);
+  ros::spin();
+  cv::destroyWindow("view");
+}

rover/tutorial/src/resized_publisher.cpp

@@ -0,0 +1,37 @@
+#include <image_transport_tutorial/resized_publisher.h>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <cv_bridge/cv_bridge.h>
+
+void ResizedPublisher::publish(const sensor_msgs::Image& message,
+                               const PublishFn& publish_fn) const
+{
+  cv::Mat cv_image;
+  boost::shared_ptr<void const> tracked_object;
+  try
+  {
+    cv_image = cv_bridge::toCvShare(message, tracked_object, message.encoding)->image;
+  }
+  catch (cv::Exception &e)
+  {
+    ROS_ERROR("Could not convert from '%s' to '%s'.", message.encoding.c_str(), message.encoding.c_str());
+    return;
+  }
+
+  // Retrieve subsampling factor from the parameter server
+  double subsampling_factor;
+  std::string param_name;
+  nh().param<double>("resized_image_transport_subsampling_factor", subsampling_factor, 2.0);
+
+  // Rescale image
+  int new_width = cv_image.cols / subsampling_factor + 0.5;
+  int new_height = cv_image.rows / subsampling_factor + 0.5;
+  cv::Mat buffer;
+  cv::resize(cv_image, buffer, cv::Size(new_width, new_height));
+
+  // Set up ResizedImage and publish
+  image_transport_tutorial::ResizedImage resized_image;
+  resized_image.original_height = cv_image.rows;
+  resized_image.original_width = cv_image.cols;
+  resized_image.image = *(cv_bridge::CvImage(message.header, "bgr8", cv_image).toImageMsg());
+  publish_fn(resized_image);
+}

rover/tutorial/src/resized_subscriber.cpp

@@ -0,0 +1,18 @@
+#include <image_transport_tutorial/resized_subscriber.h>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/imgproc/imgproc.hpp>
+
+void ResizedSubscriber::internalCallback(const image_transport_tutorial::ResizedImage::ConstPtr& msg,
+                                         const Callback& user_cb)
+{
+  // This is only for optimization, not to copy the image
+  boost::shared_ptr<void const> tracked_object_tmp;
+  cv::Mat img_rsz = cv_bridge::toCvShare(msg->image, tracked_object_tmp)->image;
+  // Resize the image to its original size
+  cv::Mat img_restored;
+  cv::resize(img_rsz, img_restored, cv::Size(msg->original_width, msg->original_height));
+
+  // Call the user callback with the restored image
+  cv_bridge::CvImage cv_img(msg->image.header, msg->image.encoding, img_restored);
+  user_cb(cv_img.toImageMsg());
+};