ROS publish local image

ros_node_publish_local_image.py

#!/usr/bin/env python

import rospy
import cv2
from cv_bridge import CvBridge
from sensor_msgs.msg import Image, CompressedImage

def image_publisher():
    rospy.init_node('local_image', anonymous=True)
    
    raw_image_pub = rospy.Publisher('/local_image/raw', Image, queue_size=10, latch=True)
    compressed_image_pub = rospy.Publisher('/local_image/compressed', CompressedImage, queue_size=10, latch=True)
    
    bridge = CvBridge()

    image_path = "local_image.png"  # Replace with the actual path to your image
    cv_image = cv2.imread(image_path)
    
    if cv_image is None:
        rospy.logerr("Failed to load image from path: {}".format(image_path))
        return
    
    rospy.loginfo("Image loaded successfully.")
    
    ros_image = bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
    raw_image_pub.publish(ros_image)
    
    _, encoded_image = cv2.imencode('.jpg', cv_image)
    compressed_image = CompressedImage()
    compressed_image.header.stamp = rospy.Time.now()
    compressed_image.format = "jpeg"
    compressed_image.data = encoded_image.tobytes()
    compressed_image_pub.publish(compressed_image)

    rospy.loginfo("Image published successfully.")

if __name__ == '__main__':
    image_publisher()
    rospy.spin()