ros1-bridge: from atp ( ros-foxy-ros1-bridge/focal,now 0.9.7-1focal.20230527.083653 arm64 [installed])
realsense2_camera: from source ()
Librealsense: from sources
Steps to reproduce issue
run ros1_bridge with source /opt/ros/foxy/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
run realsense2_camera built with ros2 launch realsense2_camera rs_launch.py, where parameters in launch file are the following (depth z16 + image_color_raw):
Repeated error messages from realsense of type:
[ERROR] [1701208284.199617733] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
If I kill bridge node , immediately the above error messages are not anymore produced by realsense node.
Additional information
No depth subscribers on ROS1 side
May be I'm doing something wrong , but my understanding is that ros1_bridge is subscribing depth as rgb8 instead of Z16 image format.
My question is : if it is not a bug, is there a way to change this behavior without removing the " --bridge-all-topics" option ? (since I still have a lot of ROS1 messages not yet migrates).
Bug report
Required Info:
Steps to reproduce issue
run ros1_bridge with
source /opt/ros/foxy/setup.bash && ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
run realsense2_camera built with ros2 launch realsense2_camera rs_launch.py, where parameters in launch file are the following (depth z16 + image_color_raw):Expected behavior
No errors from realsense node side
Actual behavior
Repeated error messages from realsense of type: [ERROR] [1701208284.199617733] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8). If I kill bridge node , immediately the above error messages are not anymore produced by realsense node.
Additional information
No depth subscribers on ROS1 side May be I'm doing something wrong , but my understanding is that ros1_bridge is subscribing depth as rgb8 instead of Z16 image format. My question is : if it is not a bug, is there a way to change this behavior without removing the " --bridge-all-topics" option ? (since I still have a lot of ROS1 messages not yet migrates).