I'm getting an error when using the multicamera. It looks like compressed images only work with the 1st camera.

Bug? Any workarounds?

Thanks.

Command:

gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so install/orca_vision/share/orca_vision/worlds/test.world

Results:

[INFO] camera_controller: Publishing left camera info to [/stereo/left/camera_info]
[ERROR] camera_controller: Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[INFO] camera_controller: Publishing right camera info to [/stereo/right/camera_info]

ROS topics:

/clock
/parameter_events
/rosout
/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/compressedDepth
/stereo/right/image_raw/theora

test.world:

<?xml version="1.0"?>
<sdf version="1.6">
  <world name="default">
    <!-- Sun -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- Stereo camera model -->
    <model name="camera_model">
      <pose>0 0 -2 0 1.570796327 0</pose>
      <!-- Not static: the motion plugin moves the camera around -->
      <static>false</static>
      <link name="camera_link">
        <!-- Turn gravity off, otherwise the camera moves toward the floor -->
        <gravity>0</gravity>
        <inertial> <!-- inertial tag is REQUIRED for Gazebo -->
          <pose frame=''>0 0 0 0 0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
        </inertial>
        <visual name='camera_link_visual'>
          <pose frame=''>0 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 0.05</size>
            </box>
          </geometry>
        </visual>
        <sensor type="multicamera" name="stereo">
          <pose>0 0 0 0 0 0</pose>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
          <camera name="left">
            <!-- Left camera frame == camera_link -->
            <pose>0 0 0 0 0 0</pose>
            <horizontal_fov>1.4</horizontal_fov>
            <image>
              <width>800</width>
              <height>600</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <camera name="right">
            <!-- Right camera frame is 0.4m to the right (-0.4m to the left) of camera_link -->
            <pose>0 -0.4 0 0 0 0</pose>
            <horizontal_fov>1.4</horizontal_fov>
            <image>
              <width>800</width>
              <height>600</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
            <!-- Omit camera_name, will default to sensor name -->
            <!-- Omit frame_name, will default to link name -->
            <!-- The baseline value is the distance between the 2 cameras. It shows up in the
                 camera info projection matrix. In theory it can be gleaned by looking at the
                 pose tags of the 2 cameras above, but in practice we need to set it using the
                 hack_baseline tag. -->
            <hack_baseline>0.4</hack_baseline>
          </plugin>
        </sensor>
      </link>
    </model>

  </world>
</sdf>