Revision history [back]

You need to set the header of your image message as shown below. The original code taken from your shared reference.

self.depth_pub.publish(self.bridge.cv2_to_imgmsg(cv_depth, encoding="16UC1", header=depth_data.header))

Once you set the header, please confirm it by executing the following command:

rostopic echo -n 1 /camera/aligned_depth_to_color/image_converted | head

Furthermore, please ensure the header values, such as frame_id, etc., in the converted image are the same as in the raw image. For example, you can use the following command to see the header for the raw image:

rostopic echo -n 1 /camera/aligned_depth_to_color/image_raw | head

You need to set the header of your image message as shown below. The original code taken from your shared reference.

self.depth_pub.publish(self.bridge.cv2_to_imgmsg(cv_depth, encoding="16UC1", header=depth_data.header))
    ...
    self.depth_sub = rospy.Subscriber("/camera/aligned_depth_to_color/image_raw", Image, self.callback)

def callback(self, depth_data):
    try:
        cv_depth = self.bridge.imgmsg_to_cv2(depth_data, "16UC1")
    except CvBridgeError as e:
        print(e)

    (rows, cols) = cv_depth.shape
    cv_depth[0:int(rows/2), 0:int(cols/2)] = 0

    try:
        updated_depth_msg = self.bridge.cv2_to_imgmsg(cv_depth, "16UC1")
        updated_depth_msg.header = depth_data.header
    except CvBridgeError as e:
        print(e)
    else:
        self.depth_pub.publish(updated_depth_msg)

Once you set the header, please confirm it by executing the following command:

rostopic echo -n 1 /camera/aligned_depth_to_color/image_converted | head

Furthermore, please ensure the header values, such as frame_id, etc., in the converted image are the same as in the raw image. For example, you can use the following command to see the header for the raw image:

rostopic echo -n 1 /camera/aligned_depth_to_color/image_raw | head