原本想要用image_transport来将compressed图像republish成raw的，结果使用过程当中遇到找不到image_transport.这一点很矛盾，由于一直都在用这个，一下是遇到的问题集锦；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
查找发现/opt/ros/kinetic/lib/image_transport 里面有对应的list_transports的可执行文件，可是在share下没有，将lib下对应的可执行文件list_transport和republish拷贝进去。
而后便可执行rosrun image_transport list_transports；返回了对应的list：code
image_transport/compressed image_transport/compressedDepth image_transport/h264 image_transport/raw image_transport/theora
可是执行：ip
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
仍是没有反应，不会提示出错，也不会终止程序
这时能够尝试播放包，好比个人：
rosbag play 2020-05-27-09-28-53.bagget
这个包的信息以下：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
可是若是同时运行播包和republish就能够看到两个多出来几个个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 是咱们须要的;table
总结来说，咱们的目的是将包含压缩图像的bag转换成包含raw图像的bag，所须要的指令以下：
先运行：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
再运行：
rosbag record -o raw.bag /usb_cam150/image_raw /usb_cam180/image_raw
最后运行：
rosbag play 2020-05-27-09-28-53.bag
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