Translates from ROS Image to JderobotTypes Image. 

    @param img: ROS Image to translate
    @param bridge: bridge to do translation

    @type img: sensor_msgs.msg.Image
    @type brige: CvBridge

    @return a JderobotTypes.Image translated from img

def imageMsg2Image(img, bridge):
    '''
    Translates from ROS Image to JderobotTypes Image. 

    @param img: ROS Image to translate
    @param bridge: bridge to do translation

    @type img: sensor_msgs.msg.Image
    @type brige: CvBridge

    @return a JderobotTypes.Image translated from img

    '''
    image = Image()

    image.width = img.width
    image.height = img.height
    image.format = "RGB8"
    image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs *1e-9)
    cv_image=0
    if (img.encoding == "32FC1"):
        gray_img_buff = bridge.imgmsg_to_cv2(img, "32FC1")
        cv_image  = depthToRGB8(gray_img_buff)
    else:
        cv_image = bridge.imgmsg_to_cv2(img, "rgb8")
    image.data = cv_image
    return image