2. Converting an OpenCV image to a ROS image message:python import cv2 from sensor_msgs.msg import Image from cv_bridge import CvBridge # Create ROS publisher for image messages image_pub = rospy.Publisher("/processed_image", Image, queue_size=1) # Convert OpenCV image to ROS Image message bridge = CvBridge() ros_image = bridge.cv2_to_imgmsg(cv_image, encoding="passthrough") # Publish ROS Image message image_pub.publish(ros_image) ``` We can determine that the package library for CvBridge is the ROS image_pipeline package, which provides various tools for working with ROS images.