diff --git a/aruco_ros/launch/single.launch.py b/aruco_ros/launch/single.launch.py
index ea802522..43a8bc24 100644
--- a/aruco_ros/launch/single.launch.py
+++ b/aruco_ros/launch/single.launch.py
@@ -17,6 +17,7 @@ def launch_setup(context, *args, **kwargs):
         'camera_frame': 'stereo_gazebo_' + eye + '_camera_optical_frame',
         'marker_frame': LaunchConfiguration('marker_frame'),
         'corner_refinement': LaunchConfiguration('corner_refinement'),
+        'image_transport': LaunchConfiguration('image_transport'),
     }
 
     aruco_single = Node(
@@ -65,6 +66,12 @@ def generate_launch_description():
         choices=['NONE', 'HARRIS', 'LINES', 'SUBPIX'],
     )
 
+    image_transport_arg = DeclareLaunchArgument(
+        'image_transport', default_value='raw',
+        description='Image Transport. ',
+        choices=['raw', 'compressed'],
+    )
+
     # Create the launch description and populate
     ld = LaunchDescription()
 
@@ -74,6 +81,7 @@ def generate_launch_description():
     ld.add_action(marker_frame_arg)
     ld.add_action(reference_frame)
     ld.add_action(corner_refinement_arg)
+    ld.add_action(image_transport_arg)
 
     ld.add_action(OpaqueFunction(function=launch_setup))
 
diff --git a/aruco_ros/src/simple_single.cpp b/aruco_ros/src/simple_single.cpp
index 520f3554..4f984d58 100644
--- a/aruco_ros/src/simple_single.cpp
+++ b/aruco_ros/src/simple_single.cpp
@@ -80,6 +80,7 @@ class ArucoSimple : public rclcpp::Node
   int marker_id;
 
   std::unique_ptr<image_transport::ImageTransport> it_;
+  image_transport::TransportHints hints;
   image_transport::Subscriber image_sub;
 
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
@@ -88,7 +89,7 @@ class ArucoSimple : public rclcpp::Node
 
 public:
   ArucoSimple()
-  : Node("aruco_single"), cam_info_received(false)
+      : Node("aruco_single"), cam_info_received(false), hints(this)
   {
   }
 
@@ -133,6 +134,7 @@ class ArucoSimple : public rclcpp::Node
     this->declare_parameter<bool>("image_is_rectified", true);
     this->declare_parameter<float>("min_marker_size", 0.02);
     this->declare_parameter<std::string>("detection_mode", "");
+    this->declare_parameter<std::string>("image_transport", "raw");
 
     float min_marker_size;  // percentage of image area
     this->get_parameter_or<float>("min_marker_size", min_marker_size, 0.02);
@@ -152,7 +154,7 @@ class ArucoSimple : public rclcpp::Node
       this->get_logger(), "Marker size min: " << min_marker_size << " of image area");
     RCLCPP_INFO_STREAM(this->get_logger(), "Detection mode: " << detection_mode);
 
-    image_sub = it_->subscribe("/image", 1, &ArucoSimple::image_callback, this);
+    image_sub = it_->subscribe("/image", 1, &ArucoSimple::image_callback, this, &hints);
     cam_info_sub = this->create_subscription<sensor_msgs::msg::CameraInfo>(
       "/camera_info", 1, std::bind(
         &ArucoSimple::cam_info_callback, this,