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How to see lgsvl vehicle main camera in rviz?

asked 2019-09-30 12:46:00 -0600

clepz gravatar image

Hi everyone, I need to achieve that main camera of lgsvl autoware vehicle must be seen in rviz. Lgsvl publishes a topic which is /simulator/camera_node/compressed. But only /image_raw topic is being seen in rviz imageviewer plugin. Someone said that I must use image transport node to decompress images and republish a topic named /image_raw. I couldn't succeed that. How can I see the main camera of lgsvl vehicle in rviz?

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answered 2019-09-30 20:47:31 -0600

Kenji Miyake gravatar image

Hello.

Do you just want to view compressed images on rviz? Then, you don't have to republish manually.

Please try this step. I can view the image.

  • Launch rosbridge: roslaunch rosbridge_server rosbridge_websocket.launch
  • Launch LGSVL Simulator, and press the start button to publish topics.
  • Check if the image is published: rostopic echo /simulator/camera_node/image/compressed
  • Launch rviz
  • Click Add -> By topic -> /simulator/camera_node/image/compressed -> OK
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I have same problem. I solved that. Thank you. Particularly, I did: ... Add -> By topic -> /simulator/camera_node/image/compressed/image -> OK You must install ros-melodic-image-transport-plugins.

tiensu gravatar image tiensu  ( 2019-10-16 03:38:22 -0600 )edit
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answered 2019-10-01 12:07:05 -0600

clepz gravatar image

thank you, I did it.
For people who have the same problem, the solution is : When lgsvl simulator connected to rosbrige, run this command

rosrun image_transport republish compressed in:=/simulator/camera_node/image raw out:=/new_topic_name

It need to be /image , not /image/compressed careful! Then don't forget to add topic in display -> add button -> by topic -> new_topic_name

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Asked: 2019-09-30 12:46:00 -0600

Seen: 301 times

Last updated: Sep 30 '19