fix: image msg assignment

CMakeLists.txt

@@ -16,6 +16,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(keisan REQUIRED)
 find_package(ninshiki_interfaces REQUIRED)
+find_package(cv_bridge REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(OpenCV REQUIRED)
@@ -41,6 +42,7 @@ ament_target_dependencies(${PROJECT_NAME}
   keisan
   ninshiki_interfaces
   OpenCV
+  cv_bridge
   rclcpp
   std_msgs
   sensor_msgs
@@ -75,6 +77,7 @@ ament_export_dependencies(
   ninshiki_interfaces
   OpenCV
   rclcpp
+  cv_bridge
   std_msgs
   sensor_msgs
   shisen_cpp

include/ninshiki_cpp/node/ninshiki_cpp_node.hpp

@@ -37,6 +37,7 @@
 #include "shisen_interfaces/msg/image.hpp"
 #include "shisen_cpp/shisen_cpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
+#include <cv_bridge/cv_bridge.h>
 
 namespace ninshiki_cpp::node
 {
@@ -74,7 +75,9 @@ class NinshikiCppNode
   std::shared_ptr<ColorDetector> color_detection;
   std::shared_ptr<LBPDetector> lbp_detection;
   std::shared_ptr<shisen_cpp::camera::ImageProvider> image_provider;
-  std::shared_ptr<sensor_msgs::msg::Image> image_msg;
+
+  sensor_msgs::msg::Image::SharedPtr image_msg;
+  cv_bridge::CvImage cv_image;
 
   cv::Mat received_frame;
   cv::Mat hsv_frame;

src/ninshiki_cpp/node/ninshiki_cpp_node.cpp

@@ -87,13 +87,18 @@ void NinshikiCppNode::set_detection(
 
 void NinshikiCppNode::set_image_msg()
 {
-  this->image_msg->header.stamp = node->get_clock()->now();
-  this->image_msg->header.frame_id = "camera";
-  this->image_msg->width = received_frame.cols;
-  this->image_msg->height = received_frame.rows;
-  this->image_msg->encoding = "bgr8";
-  this->image_msg->data.assign(
-    received_frame.data, received_frame.data + received_frame.total() * received_frame.elemSize());
+  if (!this->image_msg)
+  {
+    this->image_msg = std::make_shared<sensor_msgs::msg::Image>();
+  }
+
+  this->cv_image.header.stamp = node->get_clock()->now();
+  this->cv_image.header.frame_id = "camera";
+  this->cv_image.encoding = "bgr8";
+  this->cv_image.image = received_frame;
+
+  // Convert to sensor_msgs::msg::Image
+  this->image_msg = this->cv_image.toImageMsg();
 }
 
 std::string NinshikiCppNode::get_node_prefix()