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[ROS2] image_transport only advertising raw option

asked 2020-01-14 10:29:37 -0500

tlaci gravatar image

Hi,

I created a ROS2 stereo camera node using image transport. I have two publisher:

m_publisher_left_image = image_transport::create_publisher(this, "stereo/left/image_raw");
m_publisher_right_image = image_transport::create_publisher(this, "stereo/right/image_raw");
m_publisher_left_info = this->create_publisher<sensor_msgs::msg::CameraInfo>("stereo/left/camera_info", 10);
m_publisher_right_info = this->create_publisher<sensor_msgs::msg::CameraInfo>("stereo/right/camera_info", 10);

When I start the node on my laptop I can see the following topics with ros2 topic list:

/stereo/left/camera_info
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/theora
/stereo/right/camera_info
/stereo/right/image_raw
/stereo/right/image_raw/compressed
/stereo/right/image_raw/compressedDepth
/stereo/right/image_raw/theora

Now I run the exact same code on a Jetson Nano, also using eloquent distro but I can only see

/stereo/left/camera_info
/stereo/left/image_raw
/stereo/right/camera_info
/stereo/right/image_raw

I install eloquent via debian packages in late Nov on my laptop. On the Jetson it was installed on 6th Jan.

I would be glad if someone could explain me the cause of the different behavior.

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Do you have the image transport plugins installed on your jetson nano?

stevemacenski gravatar image stevemacenski  ( 2020-01-14 15:38:58 -0500 )edit

Yes, I have.

ros-eloquent-image-transport-plugins/bionic 2.2.1-1bionic.20191213.060222 amd64
A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data.

Edit: I have just realized that it says amd64 for all my packages. Shouldn't it be arm64? I installed ros2 according to the eloquent (debian packages) tutorial.

tlaci gravatar image tlaci  ( 2020-01-15 03:14:16 -0500 )edit
1

If you're on the Jetson you should have arm64 assuming you're running an arm64 os image. The plugins certainly won't load if they are the wrong architecture.

tfoote gravatar image tfoote  ( 2020-01-15 12:09:41 -0500 )edit

Sounds like we have a diagnosis!

stevemacenski gravatar image stevemacenski  ( 2020-01-15 14:19:37 -0500 )edit

It works now. I thought image_transport_plugins should be installed with eloquent, for me it did not.

tlaci gravatar image tlaci  ( 2020-01-16 06:08:19 -0500 )edit

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answered 2020-01-16 06:05:02 -0500

tlaci gravatar image

I reinstalled eloquent choosing the right architecture. Somehow it is a problem if amd64 is listed in the brackets too, maybe because it finds amd64 packages first.

sudo sh -c 'echo "deb [arch=arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

After that I installed image_transport_plugins and now it works fine.

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Asked: 2020-01-14 10:29:37 -0500

Seen: 144 times

Last updated: Jan 16