Problems encountered in executing code

[mengl2020]

Hello, I found that there is no image of the visualization result when executing the code, what should I do? and how to pass pictures into the project .Looking forward to your reply

[kimbeomso]

Hello, Thank you for your interest.
image topic is required to visualize this code. How did you provide the image for input?
Do you have any image bagfile to provide in this code?