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[ROS2] image_transport and RVIZ2 Camera, something wrong

asked 2019-01-16 07:39:27 -0600

Myzhar

531 ●49 ●63 ●78 https://www.myzhar.com/

Hi,

using Rviz2 and image_transport with Crystal Clemmys I noticed that the Camera plugin in Rviz2 is not aligned to how image_transport::CameraPublisher creates the topic structure.

The Camera plugin for an image topic image/data expects the camera_info as image/data/camera_info, instead the image_transport::CameraPublisherpublishes it as image/camera_info (as for ROS1).

Who is wrong? The Camera plugin or image_transport?

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answered 2019-01-16 18:12:49 -0600

mjcarroll

6414 ●68 ●78 ●100 http://mjcarroll.io/

In the ROS1 image_transport, it is assumed that the camera_info topic should be a peer to the topic that the data is being published on, so for example

stereo/left/image (sensor_msgs/Image)
stereo/left/image/compressed (<transport-specific type="">)
stereo/left/image/theora (<transport-specific type="">)
stereo/left/camera_info (sensor_msgs/CameraInfo)

The goal with the port of image_transport to ROS2 was to reproduce the behavior from ROS1, so I believe that this is a bug in the way that RViz handles it. The quick fix would be to adjust this in RViz, but I believe a better fix would be to also bring the new image_transport functionality into RViz.

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Yes, the bug is in the Rviz2 plugin. I found an old open issue about this problem on github. The wrong topic structure was reported, but no one fixed it yet.