RGB channel swapping in ROS visualization tools

gazebosim / gazebo-classic

Gazebo classic. For the latest version, see https://github.com/gazebosim/gz-sim

http://classic.gazebosim.org/

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RGB channel swapping in ROS visualization tools #1644

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Jackie K (Bitbucket: jacquelinekay).

When visualizing pointcloud data from Gazebo robots in Rviz, the point cloud renders with the RGB color channels swapped (BGR).

Picture courtesy of @codebot:

Pictures are both from gazebo5 debians and ros indigo.

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

Can you(or whoever starts working on this issue) setup a gazebo test to reproduce the problem?

osrf-migration commented 9 years ago

Original comment by Jackie K (Bitbucket: jacquelinekay).

You have to launch ROS to reproduce the problem right now, so it may take some digging in Gazebo to make a standalone regression test. I think it's possible that this is a gazebo-ros-pkgs compatibility problem, too, though I'm not sure what the message pipeline looks like there...

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Maybe a gazebo_ros_pkgs test? We have used ros tests for drcsim in the past. It should be doable.

osrf-migration commented 9 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

A test that runs in the gazebo test suite would be nice since it captures the problem at the root (I'm assuming the problem is in Gazebo itself). If the problem is in gazebo_ros_pkgs, then the test should be implemented in that package.

osrf-migration commented 8 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

I tried creating a camera with image format B8G8R8 (image format strings taken from Camera::GetOgrePixelFormat), but it wasn't displaying those images in the image topic viewer (see test world camera_bgr.world). It started displaying them when I expanded Image::ConvertPixelFormat in f933b258c96fcb2a2b54b18bc7e4f822c78bdbf2. We should add a test for that function and verify that it's converting all the different image types properly.

osrf-migration commented 8 years ago

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

set version to "all"