ROSBAG: Stream of "Compressed Depth Image Transport..." errors when adding libgazebo_ros_camera.so camera sensor to model
I get a stream of "Compressed Depth Image Transport..." errors when adding libgazeboroscamera.so camera sensor to model and record to a rosbag. The errors go away when I remove the rosbag recording.
Here is the sensor description:
<sensor name='camera1' type='camera'>
<pose>0 0 -0.27 3.14159 1.57079 3.14159</pose>
<visualize>true</visualize>
<update_rate>30</update_rate>
<camera name='downward_camera'>
<horizontal_fov>0.90757121</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
<format>L8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>downward_cam</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>downward_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
This is what I see streaming in the output:
[ERROR] [1430429761.704279031, 78.753999999]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
Stream of these in the rosout.log
1.986000000 ERROR [/tmp/buildd/ros-hydro-compressed-depth-image-transport-1.8.21-0precise-20150101-0702/src/compressed_depth_publisher.cpp:224(CompressedDepthPublisher::publish) [topics: /rosout, /gazebo/clock, /gazebo/link_states, /gazebo/model_states, /gazebo/parameter_descriptions, /gazebo/parameter_updates, /laser1/scan, /laser2/scan, /downward_cam/parameter_descriptions, /downward_cam/parameter_updates, /downward_cam/image/compressedDepth, /downward_cam/image/compressedDepth/parameter_descriptions, /downward_cam/image/compressedDepth/parameter_updates, /downward_cam/image/compressed, /downward_cam/image/compressed/parameter_descriptions, /downward_cam/image/compressed/parameter_updates, /downward_cam/image, /downward_cam/image/theora, /downward_cam/image/theora/parameter_descriptions, /downward_cam/image/theora/parameter_updates, /downward_cam/camera_info] Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
Asked by n8zach on 2015-04-30 17:05:09 UTC
Answers
I know that the <format>L8</format>
tag makes it an 8-bit mono images; the error message seems to indicate that is not compatible with compression. I'm not sure where compression is enabled.
Asked by scpeters on 2015-05-02 00:43:22 UTC
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