[TurtleBot] Getting Colored Images from navigation mode

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Hello guys,

This is my first post here on ros answers, and I feel very honored for being a part of this community. I've recently started working with TurtleBot on a project here at my University, which has a goal to gather a RGB-D dataset in order to build semantic maps. In a nutshell, I need to get the TurtleBot moving around the halls of a building, saving RGB and depth information while doing it. I have completed all turtlebot and rosbag tutorials, however a situation came up:

• When the turtlebot is navigating autonomously on a known map, the topic /camera/rgb/image_color (which provides the colored image), is gone! I'm only left with the /camera/rgb/image_raw, which does not suit my needs (not because it's not colored, but because it has strange "dots" on it). I have tried to use the 3dsensors launcher (which makes the image_color topic show up) while navigating, but apparently launching it causes the navigation mode to freeze.

So, my question is: is there any way to record colored images to a bag while the TurtleBot is navigating autonomously on a known map? If there isn't, do I have good alternatives in order to achieve my goal?

Thanks in advance,

Marlon Marques