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Depends on your situation but If you have a camera, then you will need to write a publisher and use cv_bridge and opencv to convert the image to sensor_msgs/image message type, and use the ROS2 node to publish the image to a topic. On the other end you will also need a subscriber that does the same thing the other way around. Also, the ROS wiki is here , not sure if there is a ros2 wiki but the tutorials would be similar.