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turtlebot / turtlebot4

Turtlebot4 common packages.
Apache License 2.0
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oakd compressed topics not appearing #377

Closed arkcom55 closed 7 months ago

arkcom55 commented 8 months ago

Robot Model

Turtlebot4 Standard

ROS distro

Humble

Networking Configuration

Discovery Server

OS

Ubuntu 22.04

Built from source or installed?

Installed

Package version

Unknown

Type of issue

Camera

Expected behaviour

Should see ROS topics: /oakd/rgb/preview/camera_info /oakd/rgb/preview/image_raw /oakd/rgb/preview/image_raw/compressed /oakd/rgb/preview/image_raw/compressedDepth /oakd/rgb/preview/image_raw/theora

Actual behaviour

Actaully see ROS topics: /oakd/rgb/preview/camera_info /oakd/rgb/preview/image_raw

Error messages

No response

To Reproduce

Just start turtlebot4 and undock

Other notes

Note this is NOT the same issue as mentioned in https://turtlebot.github.io/turtlebot4-user-manual/troubleshooting/faq.html#4-oakd-topics-not-present which was related to NO oakd ROS topics is robot docked.

This issue is when undocked.

Have one Turtlebot4 displaying all the expected topics and a number only displaying the two topics.

arkcom55 commented 8 months ago

andrew.kostiuk@usask.ca

RustyCPR commented 8 months ago

Hi Andrew - thank you for submitting the ticket. Can you please provide the outputs of the below from both TB4 (with and without the extra topics)

apt-cache policy ros-humble-depthai-ros-driver ros-humble-turtlebot4-robot

RustyCPR commented 8 months ago

Hi @arkcom55 - any updates? did you resolve the issue?
Thanks, Rusty

arkcom55 commented 8 months ago

Updated and now just: oakd/rgb/preview/camera_info /oakd/rgb/preview/image_raw

Perhaps I am looking at this wrong. Do I just want to do something with "ros2 run image_transport republish ..." to get compressed images?

RustyCPR commented 8 months ago

Hi @arkcom55 These are the standard ROS topics you should see out of the box.

Please see this reply related to additional depth camera topics: https://github.com/turtlebot/turtlebot4/issues/277#issuecomment-1815024838

RustyCPR commented 7 months ago

Closing due to no updates or activity.