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I found the solution. It was like I thought, the video_recorder needed the camera_info topic otherwise it can't sync the stuff. So I generated a fake camera_info (with the right height,width of the image).

Basically I needed to publish a camera_info topic.

I did it in this way:

rosrun topic_tools transform "/camera_2/image_raw/compressed" camera_2/camera_info sensor_msgs/CameraInfo "std_msgs.msg.Header(m.header.seq, m.header.stamp, ''), 1552, 2080, '', [0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 0, 0, sensor_msgs.msg.RegionOfInterest(0,0,0,0,False)" --import rospy std_msgs sensor_msgs

I hope this will help someone else who will have the same problem.

Thanks.