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I managed to make it work.

According to this source file the encoder puts a header at the beginning of the file. According to libpng, the first bytes of any png are 89 50 4e 47 0d 0a 1a 0a. By inspection, I found that the first 12 bytes are the header of compressed_depth_image_transport and the rest is a valid png file.

Hi,

I am using the compressed_depth_image_transport to compress a Kinect depth image before letting it go through rosbridge (the client won't have ROS or opencv installed, only pip-installed libs). The image is float32 compressed in png.

On the client, I receive the image encoded in base64 by rosbridge. After decoding the base64 string, what I have is bytes that are supposed to be the compressed image. However, I cannot figure out the format of the image. For instance, if I wrtite directly the bytes to a ".png" file, I cannot open it using an image viewer. I also get exceptions if I try to load the bytes using Pillow, pypng, scipy, etc.

How does compressed_depth_image_transport works? I have seen in the source code that it uses cv::imencode, does it produce a valid png file content as I expect?

Thank you!

Thank you so much for this very detailed guide! I had been trying to make my submodules copy to devel space for a long time

Hi,

I am having a hard time making my python code execute with rosrun. My project structure looks like this: ~/workspace/src/my_package which contains two subdirectories with my code, lets say a with contains main.py and b with contains b.py. Each folder contains (my_package, a and b) contains a __init__.py.

In main.py, I have from b.b import ClassName

When I try to run my module with rosrun my_package main.py, I get the following error: "ImportError: No module named b"

I have a setup.py at the root of my_package:

#!/usr/bin/env python
# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup

# fetch values from package.xml
setup_args = generate_distutils_setup(
    packages=['my_package'],
    package_dir={'': 'src'}
)

setup(**setup_args)

I also added the line in the CMakeLists.txt that execute it.

Any ideas?

Thank you

Thank you! I miss it in the documentation for some reason,..

Hi

My application requires a configuration file and a resource folder placed in the same directory as the executable. Those are located at : ~/workspace/src/project/cfg/. I want to copy this file and this directory at ~/workspace/devel/lib/project/, where my executable is located.

What can I add to my CMakeLists.txt to achieve that? I have tried using ${CATKIN_PACKAGE_BIN_DESTINATION}, but it creates a lib subdirectory in build.

Thank you