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See if some of the other answers to very similar questions are of any help

http://answers.ros.org/question/60182/error-unable-to-convert-32fc1-image-to-bgr8-while-extracting-rbgd-data-from-a-bag/

http://answers.ros.org/question/199642/is-it-possible-to-convert-depth-messages-as-ipl-image-using-cvbridge/

http://answers.ros.org/question/212747/cvbridge-conversion-problem-asus-xtion-depth-image-to-opencv/

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