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我是 ROS 的新手。我正在处理来自 ARDRONE 的视频，但我无法流式传输视频。

我是否必须更改发布者和订阅者中的主题才能流式传输视频？？？

提到我必须使用包文件进行流式传输。

我的发布者和订阅者节点如下：

 def __init__(self):
     self.image_pub = rospy.Publisher("image_topic_2",Image,queue_size=10)

     self.bridge = CvBridge()
     self.image_sub = rospy.Subscriber("image_topic",Image,self.callback)

 def callback(self,data):
     try:
       cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
     except CvBridgeError as e:
       print(e)

     (rows,cols,channels) = cv_image.shape
     if cols > 60 and rows > 60 :
        cv2.circle(cv_image, (50,50), 10, 255)

     cv2.imshow("Image window", cv_image)
     cv2.waitKey(3)

     try:
        self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
     except CvBridgeError as e:
         print(e)

有人可以解释一下这到底是如何工作的吗？

rostopic hz /ardrone/image_raw 输出为：

 rostopic hz /ardrone/image_raw
   subscribed to [/ardrone/image_raw]
   average rate: 31.109
      min: 0.011s max: 0.051s std dev: 0.00873s window: 31
   average rate: 31.077
      min: 0.011s max: 0.059s std dev: 0.00947s window: 62
   average rate: 30.875
      min: 0.011s max: 0.061s std dev: 0.00909s window: 92
   average rate: 30.508

罗斯图：

/ardrone/image_raw/compressedDepth/set_parameters
  /ardrone_driver/set_logger_level
  /ardrone/front/image_raw/compressedDepth/set_parameters
  /ardrone/setledanimation
  /ardrone/image_raw/theora/set_parameters
  /image_converter_3034_1485929043890/set_logger_level
  /ardrone/front/image_raw/compressed/set_parameters
  /ardrone/front/set_camera_info
  /ardrone/setflightanimation
  /ardrone/setrecord
  /image_converter_3034_1485929043890/get_loggers
  /rosout/set_logger_level
  /ardrone/image_raw/compressed/set_parameters
  /ardrone_driver/get_loggers
  /ardrone/togglecam
  /ardrone/flattrim
  /ardrone/bottom/image_raw/theora/set_parameters
  /ardrone/bottom/set_camera_info
  /ardrone/bottom/image_raw/compressed/set_parameters
  /ardrone/bottom/image_raw/compressedDepth/set_parameters
  /rosout/get_loggers
  /ardrone/setcamchannel
  /ardrone/front/image_raw/theora/set_parameters
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