Closed Alvarodamat closed 7 years ago
I think the reason is that the default variant spawned from indoor_slam_gazebo.launch
only has a standard RGB camera installed which uses the default gazebo_ros_camera
plugin from https://github.com/ros-simulation/gazebo_ros_pkgs and does not produce depth images. The demo uses a 2D laser range finder only.
In order to spawn a quadrotor with a depth camera, you should look at the various launch file and robot description options in hector_quadrotor_gazebo or create your own drone model using urdf and appropriate Gazebo plugins. Probably spawn_quadrotor_with_kinect.launch is more or less what you want (without all the SLAM overhead):
roslaunch hector_gazebo_worlds willow_garage.launch &
roslaunch hector_quadrotor_gazebo spawn_quadrotor_with_kinect.launch &
Typically you would assemble your own application-specific launch file from the examples in the repository or other sources.
Not sure why rviz offers a selection of compression methods for depth images for the /camera/image
topic, but the image_transport interface is quite generic and can contain different types of images, so the subscriber cannot know. The error message clearly states that the published format is rgb8
, so no depth information.
Please consider to use http://answers.gazebosim.org/ for future questions which are not bug reports or pull requests.
Oh, thank you very much! Now I got the model running. And sorry about this thread here, if I need help again, I will head to Answers Gazebo. Thanks again!
Greetings, dear developers. First, thanks for this useful package, I haven't seen a better quadrotor sim before! Now, the issue: Recently I got your kinetic-devel branch of hector_quadrotor (downloaded from source) in order to obtain 3D images for an assignment. I got it, I got all the dependencies and stuff and ran the indoor SLAM demo, and, when I add a Depth Image (compressedDepth topic) I get this message in the terminal:
Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8).
I'm quite a newbie in this, so I don't know if it is a bug or a problem of mine, and of course, I don't know if there is any solution.
My environment is Ubuntu 16.04 Xenial, I'm ussing ROS Kinetic Kame version, Gazebo 7.0, and RViz 1.12 for Kinetic.
Some screenshots: