ROS Gazebo

#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo_client.hh>
#include "ros/ros.h"
#include "sensor_msgs.msg.Image"

#include <iostream>

class readGazeboTopic
{
public:
  readGazeboTopic(arguments);
  virtual ~readGazeboTopic();

  void readGazeboTopic::cb(sensor_msgs::Image &img)
  {
    colorimage = *img;
  }

  sensor_msgs::Image readGazeboTopic::readImage()
  {
    return colorimage;
  }

private:
  /* data */
  sensor_msgs::Image colorimage;
};


/////////////////////////////////////////////////
// Function is called everytime a message is received.
void cb(ConstWorldStatisticsPtr &_msg)
{
  // Dump the message contents to stdout.
  std::cout << _msg->DebugString();
}

/////////////////////////////////////////////////
int main(int _argc, char **_argv)
{
  // Load gazebo
  gazebo::client::setup(_argc, _argv);

  //Load ROS
  ros::init(argc, argv, "ImagePublisher");

  ros::NodeHandle n;

  // Create our node for communication
  gazebo::transport::NodePtr node(new gazebo::transport::Node());
  node->Init();

  //Create our class
  readGazeboTopic rGT;

  // Listen to Gazebo world_stats topic
  gazebo::transport::SubscriberPtr sub = node->Subscribe("~/world_stats", rGT::cb);

  // Ros publisher
  ros::Publisher ImagePub = n.advertise<sensor_msgs::Image>("color", 1000);
  ros::Rate loop_rate(10);

  // Busy wait loop...replace with your own code as needed.
  while (ros::ok())  {
    ImagePub.publish(rGT::readImage());
    ros::spinOnce();
    loop_rate.sleep();
  }

  // Make sure to shut everything down.
  gazebo::client::shutdown();
}