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LCAS / limo_ros2

limo ros2 packages
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change colour space from RGB8 to the expected BGR8 #22

Closed marc-hanheide closed 6 months ago

marc-hanheide commented 6 months ago

What type of PR is this? (check all applicable)

Description

change the colour space of the simulated gazebo camera from RGB8 to BGR8, as is expected by the standard for pointclouds (and more generally).

Related Tickets & Documents

QA Instructions, Screenshots, Recordings

With this in place, RViz2 shows the correct red and blue colours both in image view and in pointcloud:

image

[optional] Are there any post deployment tasks we need to perform?

rebuild and deploy the https://github.com/LCAS/teaching image when this is fixed.

marc-hanheide commented 6 months ago

@jondave @gcielniak @LeonardoGuevara @pulver22

Did you never have this problem with the gazebo sim I described in #21? I think this fix is needed!

LeonardoGuevara commented 6 months ago

We weren't aware of this since we are not using point clouds for our module but I can see this fixes the problem you mentioned.

jondave commented 6 months ago

As Leonardo said we only used the RGB camera, not the depth camera's pointcloud so I never noticed the colour difference.

marc-hanheide commented 6 months ago

so,.you approve?

LeonardoGuevara commented 6 months ago

Yes

marc-hanheide commented 6 months ago

hang on, you closed without merging??

LeonardoGuevara commented 6 months ago

My bad, I merged it now!