thermal camera error !!
Hello everyone,
I added hector thermal camera to my robot but I faced error below when I choose the /thermal_camera/image_raw/compressedDepth
in rqt:
[ERROR] [1498907881.375919678, 72.756000000]:Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8)
and the camera could not recognize the "hot box"!
any help would be appreciated.
Edit: Below information is the content of my thermal_camera.URDF.xacro
file:
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find pioneer_description)/urdf/sensor_macros.urdf.xacro"/>
<xacro:macro name="thermal_camera" params="name parent *origin"> <joint name="${name}_joint" type="fixed"> <xacro:insert_block name="origin"/> <parent link="${parent}"/> <child link="${name}_frame"/> </joint>
<link name="${name}_frame">
</link>
<xacro:add_optical_frame name="${name}" />
<gazebo reference="${name}_frame">
<sensor type="camera" name="thermal_camera_sensor">
<update_rate>10</update_rate>
<camera>
<horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>320</width>
<height>256</height>
</image>
<clip>
<near>0.01</near>
<far>100</far>
</clip>
</camera>
<plugin name="thermal_camera_controller" filename="libgazebo_ros_thermal_camera_pink.so">
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
<imageTopicName>/${name}/image_raw</imageTopicName>
<cameraInfoTopicName>/${name}/camera_info</cameraInfoTopicName>
<frameName>${name}_optical_frame</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro> </robot>
Best.
A thermal camera is not a depth camera, and it looks like it doesn't work with compression for depth cameras. Have you tried the raw image or one of the other compression methods?
Actually when I choose image_raw, it doesn't show a proper output to visualize hot area. I don't know if it is needed to use any special package more than adding theramal camera xacro in URDF to solve this problem?
According to http://wiki.ros.org/hector_gazebo_the... , you need to use special models in the gazebo world that will appear "hot" in the camera.
i used hot box (in this package p3at with models) in gazebo world but the problem is it cannot recognize it as a hot object. @ahendrix