0.6.1 (2009-12-21)

Patch release for gcc 4.4 compatibility.

0.6.0 (2009-12-15)


  • Subscriber attempts to recognize and warn when the user passes in a transport-specific topic instead of the base topic.
  • ImageTransport constructor from NodeHandle is now explicit.

  • SubscriberFilter takes an ImageTransport argument in constructor and subscribe(). Old versions with a NodeHandle argument are deprecated.

  • (Camera)Publisher and (Camera)Subscriber methods now mimic roscpp behavior when the object is "invalid" (default-constructed or shutdown).

  • Publisher plugin parameter lookup correctly starts in the namespace defined by the base topic.


  • Added stream-based read/write functions for INI and YML representations.

0.5.2 (2009-11-03)


  • Fixed bug in connection callbacks that sometimes caused a segfault.
  • Publisher now throws if it fails to load any plugins.
  • Got rid of deprecation warning from getSubscriberCallerID().


  • Fix for gcc 4.4.

0.5.1 (2009-10-08)


  • Made determination of camera info topic more robust.
  • Tweaked output from list_transports.

0.5.0 (2009-10-07)

Stack passed doc review.


  • Removed all deprecated functions and classes.
  • Fixed compilation bugs in ImageTransport::subscribeCamera().

  • Improved output from list_transports.


  • Removed deprecated functions.

0.4.0 (2009-10-06)


  • Clarified expected lookup behavior for plugin parameters. Involved minor changes to low-level plugin APIs.

0.3.1 (2009-10-05)

Patch release for common's renaming of yaml-cpp to yaml_cpp.

Minor cleanup and doc improvements based on ongoing doc review.

0.3.0 (2009-09-30)


  • Fixed bug in SimplePublisherPlugin making it unusable for non-trivial transports

  • Added internal subscription callback support to SimplePublisherPlugin

  • Parts of the documentation have been moved to the wiki

0.2.1 (2009-09-28)

Patch release to use new pluginlib exceptions.

image_transport and camera_calibration_parsers both API cleared.

0.2.0 (2009-09-23)

New features


  • Renamed Publisher and Subscriber classes.

  • ImageTransport class for advertising and subscribing to image topics. Provides analogous interface to NodeHandle.

  • Transport used determined by hint to Subscriber instead of a per-topic parameter. Besides being a cleaner model, this allows bag files to work correctly with non-raw transports.

  • Full subscriber status callback support in publisher classes.
  • SubscriberFilter for using image subscriptions with message_filters.

  • CameraPublisher and CameraSubscriber convenience classes for managing synchronized Image & CameraInfo topics.

  • 'list_transports' utility for checking available transports and troubleshooting
  • 'republish' utility node for common tasks:
    • Interfacing compressed transports with Python or legacy C++ nodes
    • Limiting bandwidth and computation on an offboard computer
  • SimplePublisherPlugin and SimpleSubscriberPlugin greatly simplify implementing your own transport in most cases.


  • New simplified overloads using CameraInfo instead of separate parameter args.


All deprecated features will be removed in 0.3.


  • ImagePublisher and ImageSubscriber. Use Publisher and Subscriber instead.

  • Parts of the PublisherPlugin and SubscriberPlugin have changed, but remain in deprecated form for backwards compatibility.


  • Functions with separate parameter args have been deprecated in favor of the CameraInfo versions.



  • transform node. Replaced by republish.

Backwards compatibility

image_transport is largely backwards compatible with 0.1:

  • Images published by Publisher can be received by ImageSubscriber

  • Images published by ImagePublisher can be received by Subscriber

  • Existing plugins will continue to work with ImagePublisher and ImageSubscriber. However, they will need to be upgraded to work with the new Publisher and Subscriber.

camera_calibration_parsers is fully backwards compatible.

Wiki: image_common/ChangeList/Pre-1.0 (last edited 2010-07-23 21:02:55 by KenConley)