camera/color topic returns black and white images

[moutalibbadr]

• OS: (e.g. Ubuntu 20.04)
• ROS Distro: (e.g. Galactic)
• Built from source

• Package version: galactic

  Expected behaviour camera/color topic to return images in rgb.

  Actual behaviour although the encoding is rgb8 the image pixel values seem to be between 255-255-255 and 0-0-0 which gives a black and white image.

To Reproduce ros2 launch turtlebot4_ignition_bringup ignition.launch.py rviz:=true add camera/color topic in rviz

Other notes I can't say for sure if this is due to ignition or the camera definition in the urdf.

[moutalibbadr]

Here is an illustration of this issue.

[roni-kreinin]

If you change the render engine to ogre2 here https://github.com/iRobotEducation/create3_sim/blob/main/irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro#:~:text=%3Crender_engine%3Eogre%3C/render_engine%3E, the image should publish correctly. Expect worse performance though.

Side note: If you pull the latest turtlebot4_description it will fix the red models that you are seeing in RVIZ

[moutalibbadr]

Thank you this solved the issue. And thank you for the tip on the red models.