Why RTABmap wants sensor_msgs/Image when I am sending compressed images?

asked 2019-03-22 10:01:00 -0600

EdwardNur gravatar image

While launching RTABmap I have set the parameter "compressed" to true and even then I get this error:

Client [/rtabmap/rtabmapviz] wants topic /duo3d/left/image_rect/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection.

Why does it request the Image when it should get CompressedImage? I set the left and right topics to compressed topics that my camera publishes

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How did you launch rtabmapviz? To actually subscribe to /duo3d/left/image_rect/compressed, you should remap to /duo3d/left/image_rect but set parameter rgb/image_transport of rtabmapviz node to compressed.

matlabbe gravatar image matlabbe  ( 2019-03-23 15:16:13 -0600 )edit