diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index e430cd92..5821e1db 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -112,6 +112,12 @@ class ImageTransport
   IMAGE_TRANSPORT_PUBLIC
   explicit ImageTransport(rclcpp::Node::SharedPtr node);
 
+  IMAGE_TRANSPORT_PUBLIC
+  ImageTransport(const ImageTransport & other);
+
+  IMAGE_TRANSPORT_PUBLIC
+  ImageTransport & operator=(const ImageTransport & other);
+
   IMAGE_TRANSPORT_PUBLIC
   ~ImageTransport();
 
@@ -364,6 +370,11 @@ class ImageTransport
   std::unique_ptr<Impl> impl_;
 };
 
+struct ImageTransport::Impl
+{
+  rclcpp::Node::SharedPtr node_;
+};
+
 }  // namespace image_transport
 
 #endif  // IMAGE_TRANSPORT__IMAGE_TRANSPORT_HPP_
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index dfddcb91..67c3039c 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -128,10 +128,8 @@ std::vector<std::string> getLoadableTransports()
   return loadableTransports;
 }
 
-struct ImageTransport::Impl
-{
-  rclcpp::Node::SharedPtr node_;
-};
+ImageTransport::ImageTransport(const ImageTransport & other)
+: impl_(std::make_unique<Impl>(*other.impl_)) {}
 
 ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
 : impl_(std::make_unique<ImageTransport::Impl>())
diff --git a/image_transport_py/CHANGELOG.rst b/image_transport_py/CHANGELOG.rst
new file mode 100644
index 00000000..8d393d32
--- /dev/null
+++ b/image_transport_py/CHANGELOG.rst
@@ -0,0 +1,3 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package image_transport_py
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
diff --git a/image_transport_py/CMakeLists.txt b/image_transport_py/CMakeLists.txt
new file mode 100644
index 00000000..21ff9d31
--- /dev/null
+++ b/image_transport_py/CMakeLists.txt
@@ -0,0 +1,85 @@
+cmake_minimum_required(VERSION 3.20)
+project(image_transport_py)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+# By default, without the settings below, find_package(Python3) will attempt
+# to find the newest python version it can, and additionally will find the
+# most specific version.  For instance, on a system that has
+# /usr/bin/python3.10, /usr/bin/python3.11, and /usr/bin/python3, it will find
+# /usr/bin/python3.11, even if /usr/bin/python3 points to /usr/bin/python3.10.
+# The behavior we want is to prefer the "system" installed version unless the
+# user specifically tells us othewise through the Python3_EXECUTABLE hint.
+# Setting CMP0094 to NEW means that the search will stop after the first
+# python version is found.  Setting Python3_FIND_UNVERSIONED_NAMES means that
+# the search will prefer /usr/bin/python3 over /usr/bin/python3.11.  And that
+# latter functionality is only available in CMake 3.20 or later, so we need
+# at least that version.
+cmake_policy(SET CMP0094 NEW)
+set(Python3_FIND_UNVERSIONED_NAMES FIRST)
+
+# Find python before pybind11
+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
+
+find_package(pybind11_vendor REQUIRED)
+find_package(pybind11 REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+pybind11_add_module(_image_transport MODULE
+  src/image_transport_py/pybind_image_transport.cpp
+)
+
+target_include_directories(_image_transport PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+
+target_link_libraries(_image_transport PUBLIC
+  image_transport::image_transport
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+)
+
+# Install cython modules as sub-modules of the project
+install(
+  TARGETS
+    _image_transport
+  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cppcheck
+  )
+  ament_lint_auto_find_test_dependencies()
+
+  if(NOT WIN32)
+    ament_cppcheck(LANGUAGE "c++")
+  else()
+    message(STATUS "Skipping ament_cppcheck on Windows")
+  endif()
+endif()
+
+ament_package()
diff --git a/image_transport_py/README.md b/image_transport_py/README.md
new file mode 100644
index 00000000..97c8259e
--- /dev/null
+++ b/image_transport_py/README.md
@@ -0,0 +1,128 @@
+# image_transport_py: Python Bindings for ROS 2 Image Transport
+
+## Introduction
+
+`image_transport_py` is a Python package that provides bindings for `image_transport`. It enables efficient publishing and subscribing of images in Python, leveraging various transport plugins (e.g., `raw`, `compressed`). 
+The package allows developers to handle image topics more efficiently and with less overhead than using standard ROS 2 topics.
+
+## Usage
+
+The detailed tutorial on `image_transport` and `image_transport_py` can be found at: https://github.com/ros-perception/image_transport_tutorials.
+
+## Classes
+
+### Publisher
+
+A publisher for images.
+
+#### Methods
+
+- `get_topic()`
+
+  Returns the base image topic.
+
+- `get_num_subscribers()`
+
+  Returns the number of subscribers this publisher is connected to.
+
+- `shutdown()`
+
+  Unsubscribe the callback associated with this Publisher.
+
+- `publish(img)`
+
+  Publish an image on the topics associated with this Publisher.
+
+### CameraPublisher
+
+A publisher for images with camera info.
+
+#### Methods
+
+- `get_topic()`
+
+  Returns the base (image) topic of this CameraPublisher.
+
+- `get_num_subscribers()`
+
+  Returns the number of subscribers this camera publisher is connected to.
+
+- `shutdown()`
+
+  Unsubscribe the callback associated with this CameraPublisher.
+
+- `publish(img, info)`
+
+  Publish an image and camera info on the topics associated with this Publisher.
+
+### ImageTransport
+
+An object for image transport operations.
+
+#### Constructor
+
+- `__init__(node_name, image_transport="", launch_params_filepath="")`
+
+  Initialize an ImageTransport object with its node name, `image_transport` and launch params file path. If no `image_transport` specified, the default `raw` plugin will be initialized.
+
+#### Methods
+
+- `advertise(base_topic, queue_size, latch=False)`
+
+  Advertise an image topic.
+
+- `advertise_camera(base_topic, queue_size, latch=False)`
+
+  Advertise an image topic with camera info.
+
+- `subscribe(base_topic, queue_size, callback)`
+
+  Subscribe to an image topic.
+
+- `subscribe_camera(base_topic, queue_size, callback)`
+
+  Subscribe to an image topic with camera info.
+
+### Subscriber
+
+A subscriber for images.
+
+#### Methods
+
+- `get_topic()`
+
+  Returns the base image topic.
+
+- `get_num_publishers()`
+
+  Returns the number of publishers this subscriber is connected to.
+
+- `get_transport()`
+
+  Returns the name of the transport being used.
+
+- `shutdown()`
+
+  Unsubscribe the callback associated with this Subscriber.
+
+### CameraSubscriber
+
+A subscriber for images with camera info.
+
+#### Methods
+
+- `get_topic()`
+
+  Returns the base image topic.
+
+- `get_num_publishers()`
+
+  Returns the number of publishers this subscriber is connected to.
+
+- `get_transport()`
+
+  Returns the name of the transport being used.
+
+- `shutdown()`
+
+  Unsubscribe the callback associated with this CameraSubscriber.
diff --git a/image_transport_py/image_transport_py/__init__.py b/image_transport_py/image_transport_py/__init__.py
new file mode 100644
index 00000000..e4421c41
--- /dev/null
+++ b/image_transport_py/image_transport_py/__init__.py
@@ -0,0 +1,36 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rpyutils import add_dll_directories_from_env
+
+# Since Python 3.8, on Windows we should ensure DLL directories are explicitly added
+# to the search path.
+# See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
+with add_dll_directories_from_env('PATH'):
+    from image_transport_py._image_transport import (
+        ImageTransport,
+        Publisher,
+        Subscriber,
+        CameraPublisher,
+        CameraSubscriber,
+    )
+
+
+__all__ = [
+    'ImageTransport',
+    'Publisher',
+    'Subscriber',
+    'CameraPublisher',
+    'CameraSubscriber',
+]
diff --git a/image_transport_py/include/image_transport_py/cast_image.hpp b/image_transport_py/include/image_transport_py/cast_image.hpp
new file mode 100644
index 00000000..6263c5af
--- /dev/null
+++ b/image_transport_py/include/image_transport_py/cast_image.hpp
@@ -0,0 +1,324 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// File generated by gen_ros_casters.py. Do not manually change.
+
+#ifndef IMAGE_TRANSPORT_PY__CAST_IMAGE_HPP_
+#define IMAGE_TRANSPORT_PY__CAST_IMAGE_HPP_
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "pybind11/operators.h"
+#include "pybind11/pybind11.h"
+#include "pybind11/stl.h"
+
+#include "sensor_msgs/msg/image.hpp"
+#include "sensor_msgs/msg/camera_info.hpp"
+
+#if PYBIND11_VERSION_MAJOR < 2 || (PYBIND11_VERSION_MAJOR == 2 && PYBIND11_VERSION_MINOR < 9)
+    #define const_name _
+#endif
+
+static inline bool is_ros_msg_type(pybind11::handle src, const std::string & msg_type_name)
+{
+  return pybind11::hasattr(src, "__module__") &&
+         src.attr("__module__").cast<std::string>() == msg_type_name;
+}
+
+namespace pybind11
+{
+namespace detail
+{
+
+using ContainerAllocator = std::allocator<void>;
+
+template<>
+struct type_caster<builtin_interfaces::msg::Time_<ContainerAllocator>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    builtin_interfaces::msg::Time_<ContainerAllocator>,
+    const_name("builtin_interfaces::msg::Time_<ContainerAllocator>"));
+  bool load(handle src, bool)
+  {
+    if (!is_ros_msg_type(src, "builtin_interfaces.msg._time")) {
+      return false;
+    }
+    value.sec = src.attr("sec").cast<int32_t>();
+    value.nanosec = src.attr("nanosec").cast<uint32_t>();
+    return true;
+  }
+
+  static handle cast(
+    builtin_interfaces::msg::Time_<ContainerAllocator> cpp_msg, return_value_policy /* policy */,
+    handle /* parent */)
+  {
+    object mod = module::import("builtin_interfaces.msg._time");
+    object MsgType = mod.attr("Time");
+    object msg = MsgType();
+    msg.attr("sec") = pybind11::cast(cpp_msg.sec);
+    msg.attr("nanosec") = pybind11::cast(cpp_msg.nanosec);
+    msg.inc_ref();
+    return msg;
+  }
+};
+
+template<>
+struct type_caster<std_msgs::msg::Header_<ContainerAllocator>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    std_msgs::msg::Header_<ContainerAllocator>,
+    const_name("std_msgs::msg::Header_<ContainerAllocator>"));
+  bool load(handle src, bool)
+  {
+    if (!is_ros_msg_type(src, "std_msgs.msg._header")) {
+      return false;
+    }
+    value.stamp = src.attr("stamp").cast<builtin_interfaces::msg::Time_<ContainerAllocator>>();
+    value.frame_id =
+      src.attr("frame_id")
+      .cast<std::basic_string<
+          char, std::char_traits<char>,
+          typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>();
+    return true;
+  }
+
+  static handle cast(
+    std_msgs::msg::Header_<ContainerAllocator> cpp_msg, return_value_policy /* policy */,
+    handle /* parent */)
+  {
+    object mod = module::import("std_msgs.msg._header");
+    object MsgType = mod.attr("Header");
+    object msg = MsgType();
+    msg.attr("stamp") = pybind11::cast(cpp_msg.stamp);
+    msg.attr("frame_id") = pybind11::cast(cpp_msg.frame_id);
+    msg.inc_ref();
+    return msg;
+  }
+};
+
+template<>
+struct type_caster<sensor_msgs::msg::Image_<ContainerAllocator>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    sensor_msgs::msg::Image_<ContainerAllocator>,
+    const_name("sensor_msgs::msg::Image_<ContainerAllocator>"));
+  bool load(handle src, bool)
+  {
+    if (!is_ros_msg_type(src, "sensor_msgs.msg._image")) {
+      return false;
+    }
+    value.header = src.attr("header").cast<std_msgs::msg::Header_<ContainerAllocator>>();
+    value.height = src.attr("height").cast<uint32_t>();
+    value.width = src.attr("width").cast<uint32_t>();
+    value.encoding =
+      src.attr("encoding")
+      .cast<std::basic_string<
+          char, std::char_traits<char>,
+          typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>();
+    value.is_bigendian = src.attr("is_bigendian").cast<uint8_t>();
+    value.step = src.attr("step").cast<uint32_t>();
+    value.data =
+      src.attr("data")
+      .cast<std::vector<
+          uint8_t,
+          typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<uint8_t>>>();
+    return true;
+  }
+
+  static handle cast(
+    sensor_msgs::msg::Image_<ContainerAllocator> cpp_msg, return_value_policy /* policy */,
+    handle /* parent */)
+  {
+    object mod = module::import("sensor_msgs.msg._image");
+    object MsgType = mod.attr("Image");
+    object msg = MsgType();
+    msg.attr("header") = pybind11::cast(cpp_msg.header);
+    msg.attr("height") = pybind11::cast(cpp_msg.height);
+    msg.attr("width") = pybind11::cast(cpp_msg.width);
+    msg.attr("encoding") = pybind11::cast(cpp_msg.encoding);
+    msg.attr("is_bigendian") = pybind11::cast(cpp_msg.is_bigendian);
+    msg.attr("step") = pybind11::cast(cpp_msg.step);
+    msg.attr("data") = pybind11::cast(cpp_msg.data);
+    msg.inc_ref();
+    return msg;
+  }
+};
+
+template<>
+struct type_caster<std::shared_ptr<const sensor_msgs::msg::Image>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    std::shared_ptr<const sensor_msgs::msg::Image>,
+    const_name("sensor_msgs::msg::Image"));
+
+  bool load(handle src, bool)
+  {
+    type_caster<sensor_msgs::msg::Image> base_caster;
+    if (!base_caster.load(src, false)) {
+      return false;
+    }
+    value =
+      std::make_shared<sensor_msgs::msg::Image>(
+      std::move(
+        base_caster.operator sensor_msgs::msg
+        ::Image & ()));
+    return true;
+  }
+
+  static handle cast(
+    const std::shared_ptr<const sensor_msgs::msg::Image> & ptr,
+    return_value_policy policy, handle parent)
+  {
+    if (!ptr) {
+      return pybind11::none().release();
+    }
+    return type_caster<sensor_msgs::msg::Image>::cast(*ptr, policy, parent);
+  }
+};
+
+template<>
+struct type_caster<sensor_msgs::msg::RegionOfInterest_<ContainerAllocator>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    sensor_msgs::msg::RegionOfInterest_<ContainerAllocator>,
+    const_name("sensor_msgs::msg::RegionOfInterest_<ContainerAllocator>"));
+  bool load(handle src, bool)
+  {
+    if (!is_ros_msg_type(src, "sensor_msgs.msg._region_of_interest")) {
+      return false;
+    }
+    value.x_offset = src.attr("x_offset").cast<uint32_t>();
+    value.y_offset = src.attr("y_offset").cast<uint32_t>();
+    value.height = src.attr("height").cast<uint32_t>();
+    value.width = src.attr("width").cast<uint32_t>();
+    value.do_rectify = src.attr("do_rectify").cast<bool>();
+    return true;
+  }
+
+  static handle cast(
+    sensor_msgs::msg::RegionOfInterest_<ContainerAllocator> cpp_msg,
+    return_value_policy /* policy */,
+    handle /* parent */)
+  {
+    object mod = module::import("sensor_msgs.msg._region_of_interest");
+    object MsgType = mod.attr("RegionOfInterest");
+    object msg = MsgType();
+    msg.attr("x_offset") = pybind11::cast(cpp_msg.x_offset);
+    msg.attr("y_offset") = pybind11::cast(cpp_msg.y_offset);
+    msg.attr("height") = pybind11::cast(cpp_msg.height);
+    msg.attr("width") = pybind11::cast(cpp_msg.width);
+    msg.attr("do_rectify") = pybind11::cast(cpp_msg.do_rectify);
+    msg.inc_ref();
+    return msg;
+  }
+};
+
+template<>
+struct type_caster<sensor_msgs::msg::CameraInfo_<ContainerAllocator>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    sensor_msgs::msg::CameraInfo_<ContainerAllocator>,
+    const_name("sensor_msgs::msg::CameraInfo_<ContainerAllocator>"));
+  bool load(handle src, bool)
+  {
+    if (!is_ros_msg_type(src, "sensor_msgs.msg._camera_info")) {
+      return false;
+    }
+    value.header = src.attr("header").cast<std_msgs::msg::Header_<ContainerAllocator>>();
+    value.height = src.attr("height").cast<uint32_t>();
+    value.width = src.attr("width").cast<uint32_t>();
+    value.distortion_model = src.attr("distortion_model").cast<std::basic_string<char,
+        std::char_traits<char>,
+        typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>();
+    value.d = src.attr("d").cast<std::vector<double,
+        typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>>>();
+    value.k = src.attr("k").cast<std::array<double, 9>>();
+    value.r = src.attr("r").cast<std::array<double, 9>>();
+    value.p = src.attr("p").cast<std::array<double, 12>>();
+    value.binning_x = src.attr("binning_x").cast<uint32_t>();
+    value.binning_y = src.attr("binning_y").cast<uint32_t>();
+    value.roi = src.attr("roi").cast<sensor_msgs::msg::RegionOfInterest_<ContainerAllocator>>();
+    return true;
+  }
+
+  static handle cast(
+    sensor_msgs::msg::CameraInfo_<ContainerAllocator> cpp_msg,
+    return_value_policy /* policy */,
+    handle /* parent */)
+  {
+    object mod = module::import("sensor_msgs.msg._camera_info");
+    object MsgType = mod.attr("CameraInfo");
+    object msg = MsgType();
+    msg.attr("header") = pybind11::cast(cpp_msg.header);
+    msg.attr("height") = pybind11::cast(cpp_msg.height);
+    msg.attr("width") = pybind11::cast(cpp_msg.width);
+    msg.attr("distortion_model") = pybind11::cast(cpp_msg.distortion_model);
+    msg.attr("d") = pybind11::cast(cpp_msg.d);
+    msg.attr("k") = pybind11::cast(cpp_msg.k);
+    msg.attr("r") = pybind11::cast(cpp_msg.r);
+    msg.attr("p") = pybind11::cast(cpp_msg.p);
+    msg.attr("binning_x") = pybind11::cast(cpp_msg.binning_x);
+    msg.attr("binning_y") = pybind11::cast(cpp_msg.binning_y);
+    msg.attr("roi") = pybind11::cast(cpp_msg.roi);
+    msg.inc_ref();
+    return msg;
+  }
+};
+
+template<>
+struct type_caster<std::shared_ptr<const sensor_msgs::msg::CameraInfo>>
+{
+public:
+  PYBIND11_TYPE_CASTER(
+    std::shared_ptr<const sensor_msgs::msg::CameraInfo>,
+    const_name("sensor_msgs::msg::CameraInfo"));
+
+  bool load(handle src, bool)
+  {
+    type_caster<sensor_msgs::msg::CameraInfo> base_caster;
+    if (!base_caster.load(src, false)) {
+      return false;
+    }
+    value =
+      std::make_shared<sensor_msgs::msg::CameraInfo>(
+      std::move(
+        base_caster.operator sensor_msgs
+        ::msg::CameraInfo & ()));
+    return true;
+  }
+
+  static handle cast(
+    const std::shared_ptr<const sensor_msgs::msg::CameraInfo> & ptr,
+    return_value_policy policy, handle parent)
+  {
+    if (!ptr) {
+      return pybind11::none().release();
+    }
+    return type_caster<sensor_msgs::msg::CameraInfo>::cast(*ptr, policy, parent);
+  }
+};
+
+}  // namespace detail
+}  // namespace pybind11
+
+#endif  // IMAGE_TRANSPORT_PY__CAST_IMAGE_HPP_
diff --git a/image_transport_py/package.xml b/image_transport_py/package.xml
new file mode 100644
index 00000000..bb428ef7
--- /dev/null
+++ b/image_transport_py/package.xml
@@ -0,0 +1,36 @@
+<package format="3">
+  <name>image_transport_py</name>
+
+  <version>5.0.3</version>
+
+  <description>Python API for image_transport</description>
+
+  <author>Tamas Foldi</author>
+
+  <maintainer email="alejandro@openrobotics.org">Alejandro Hernández</maintainer>
+  <maintainer email="john.dangelo@tailos.com">John D'Angelo</maintainer>
+
+  <license>BSD</license>
+
+  <url type="repository">https://github.com/ros-perception/image_common</url>
+  <url type="bugtracker">https://github.com/ros-perception/image_common/issues</url>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <build_depend>pybind11_vendor</build_depend>
+
+  <depend>image_transport</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <exec_depend>rpyutils</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/image_transport_py/src/image_transport_py/pybind11.hpp b/image_transport_py/src/image_transport_py/pybind11.hpp
new file mode 100644
index 00000000..9599b324
--- /dev/null
+++ b/image_transport_py/src/image_transport_py/pybind11.hpp
@@ -0,0 +1,31 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef IMAGE_TRANSPORT_PY__PYBIND11_HPP_
+#define IMAGE_TRANSPORT_PY__PYBIND11_HPP_
+
+// Ignore -Wunused-value for clang.
+// Based on https://github.com/pybind/pybind11/issues/2225
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wunused-value"
+#endif
+#include <pybind11/pybind11.h>
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif
+#include <pybind11/functional.h>
+#include <pybind11/stl.h>
+
+#endif  // IMAGE_TRANSPORT_PY__PYBIND11_HPP_
diff --git a/image_transport_py/src/image_transport_py/pybind_image_transport.cpp b/image_transport_py/src/image_transport_py/pybind_image_transport.cpp
new file mode 100644
index 00000000..0c0b4cd5
--- /dev/null
+++ b/image_transport_py/src/image_transport_py/pybind_image_transport.cpp
@@ -0,0 +1,211 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include "./pybind11.hpp"
+#include "image_transport_py/cast_image.hpp"
+
+#include <image_transport/image_transport.hpp>
+#include <image_transport/publisher.hpp>
+#include <image_transport/subscriber.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/serialization.hpp>
+#include <sensor_msgs/msg/image.hpp>
+
+using namespace std::chrono_literals;
+
+namespace image_transport_python
+{
+
+template<typename SubscriberType>
+using SubscriberMap = std::unordered_map<SubscriberType *, std::shared_ptr<SubscriberType>>;
+
+// Bindings for the image_transport classes
+PYBIND11_MODULE(_image_transport, m)
+{
+  m.doc() = "Python wrapper of the image_transport API";
+
+  pybind11::class_<image_transport::Publisher>(m, "Publisher")
+  .def(pybind11::init())
+  .def("get_topic", &image_transport::Publisher::getTopic, "Returns the base image topic.")
+  .def(
+    "get_num_subscribers", &image_transport::Publisher::getNumSubscribers,
+    "Returns the number of subscribers this publisher is connected to.")
+  .def(
+    "shutdown", &image_transport::Publisher::shutdown,
+    "Unsubscribe the callback associated with this Publisher.")
+  .def(
+    "publish",
+    [](image_transport::Publisher & publisher, sensor_msgs::msg::Image & img) {
+      publisher.publish(img);
+    },
+    "Publish an image on the topics associated with this Publisher.");
+
+  pybind11::class_<image_transport::CameraPublisher>(m, "CameraPublisher")
+  .def(pybind11::init())
+  .def(
+    "get_topic", &image_transport::CameraPublisher::getTopic,
+    "Returns the base (image) topic of this CameraPublisher.")
+  .def(
+    "get_num_subscribers", &image_transport::CameraPublisher::getNumSubscribers,
+    "Returns the number of subscribers this camera publisher is connected to.")
+  .def(
+    "shutdown", &image_transport::CameraPublisher::shutdown,
+    "Unsubscribe the callback associated with this CameraPublisher.")
+  .def(
+    "publish",
+    [](image_transport::CameraPublisher & publisher, sensor_msgs::msg::Image & img,
+    sensor_msgs::msg::CameraInfo & info) {
+      publisher.publish(img, info);
+    },
+    "Publish an image and camera info on the topics associated with this Publisher.");
+
+  pybind11::class_<image_transport::ImageTransport>(m, "ImageTransport")
+  .def(
+    pybind11::init(
+      [](const std::string & node_name, const std::string & image_transport,
+      const std::string & launch_params_filepath) {
+        if (!rclcpp::ok()) {
+          rclcpp::init(0, nullptr);
+        }
+        rclcpp::NodeOptions node_options;
+
+        if (!launch_params_filepath.empty()) {
+          node_options.allow_undeclared_parameters(true)
+          .automatically_declare_parameters_from_overrides(true)
+          .arguments({"--ros-args", "--params-file", launch_params_filepath});
+        } else if (!image_transport.empty()) {
+          node_options.allow_undeclared_parameters(true)
+          .automatically_declare_parameters_from_overrides(true)
+          .append_parameter_override("image_transport", image_transport);
+        }
+
+        rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name, "", node_options);
+
+        std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> executor =
+        std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+
+        auto spin_node = [node, executor]() {
+          executor->add_node(node);
+          executor->spin();
+        };
+        std::thread execution_thread(spin_node);
+        execution_thread.detach();
+
+        return image_transport::ImageTransport(node);
+      }),
+    pybind11::arg("node_name"), pybind11::arg("image_transport") = "",
+    pybind11::arg("launch_params_filepath") = "",
+
+    "Initialize an ImageTransport object with a node name, image_transport"
+    " and launch params file path.")
+  .def(
+    "advertise",
+    pybind11::overload_cast<const std::string &, uint32_t, bool>(
+      &image_transport::ImageTransport::advertise),
+    pybind11::arg("base_topic"), pybind11::arg("queue_size"), pybind11::arg("latch") = false,
+    "Advertise an image topic.")
+  .def(
+    "advertise_camera",
+    pybind11::overload_cast<const std::string &, uint32_t, bool>(
+      &image_transport::ImageTransport::advertiseCamera),
+    pybind11::arg("base_topic"), pybind11::arg("queue_size"), pybind11::arg("latch") = false,
+    "Advertise an image topic with camera info.")
+  .def(
+    "subscribe",
+    [](image_transport::ImageTransport & image_transport,
+    const std::string & base_topic,
+    uint32_t queue_size,
+    const image_transport::Subscriber::Callback & callback) {
+
+      // Static vector to keep the subscriptions alive
+      thread_local auto vec = std::vector<std::shared_ptr<image_transport::Subscriber>>();
+      auto subscription =
+      std::make_shared<image_transport::Subscriber>(
+        image_transport.subscribe(
+          base_topic,
+          queue_size, callback));
+      vec.push_back(subscription);
+
+      return subscription;
+    },
+    pybind11::arg("base_topic"), pybind11::arg("queue_size"), pybind11::arg("callback"),
+    "Subscribe to an image topic.")
+  .def(
+    "subscribe_camera",
+    [](image_transport::ImageTransport & image_transport,
+    const std::string & base_topic,
+    uint32_t queue_size,
+    const image_transport::CameraSubscriber::Callback & callback) {
+
+      // Static vector to keep the subscriptions alive
+      thread_local auto vec = std::vector<std::shared_ptr<image_transport::CameraSubscriber>>();
+      auto subscription =
+      std::make_shared<image_transport::CameraSubscriber>(
+        image_transport.subscribeCamera(
+          base_topic,
+          queue_size, callback));
+      vec.push_back(subscription);
+
+      return subscription;
+    },
+    pybind11::arg("base_topic"), pybind11::arg("queue_size"), pybind11::arg("callback"),
+    "Subscribe to an image topic with camera info.");
+
+  pybind11::class_<image_transport::Subscriber, std::shared_ptr<image_transport::Subscriber>>(
+    m,
+    "Subscriber")
+  .def(pybind11::init())
+  .def(
+    "get_topic",
+    &image_transport::Subscriber::getTopic,
+    "Returns the base image topic.")
+  .def(
+    "get_num_publishers",
+    &image_transport::Subscriber::getNumPublishers,
+    "Returns the number of publishers this subscriber is connected to.")
+  .def(
+    "get_transport",
+    &image_transport::Subscriber::getTransport,
+    "Returns the name of the transport being used.")
+  .def(
+    "shutdown", &image_transport::Subscriber::shutdown,
+    "Unsubscribe the callback associated with this Subscriber.");
+
+  pybind11::class_<image_transport::CameraSubscriber,
+    std::shared_ptr<image_transport::CameraSubscriber>>(
+    m,
+    "CameraSubscriber")
+  .def(pybind11::init())
+  .def(
+    "get_topic",
+    &image_transport::CameraSubscriber::getTopic,
+    "Returns the base image topic.")
+  .def(
+    "get_num_publishers",
+    &image_transport::CameraSubscriber::getNumPublishers,
+    "Returns the number of publishers this subscriber is connected to.")
+  .def(
+    "get_transport",
+    &image_transport::CameraSubscriber::getTransport,
+    "Returns the name of the transport being used.")
+  .def(
+    "shutdown", &image_transport::CameraSubscriber::shutdown,
+    "Unsubscribe the callback associated with this CameraSubscriber.");
+}
+}  // namespace image_transport_python