Comments (9)
This has been merged.
ros-perception/image_transport_plugins#58
I tried to compile image_transport_plugins from source and it worked fine.
from zed-ros2-wrapper.
I've tried to run the zed driver on foxy, but I'm still seeing the errors reported in this issue. I'm running the following branches:
zed-ros2-wrapper
on dev_foxy 4ccb6eaimage_transport_plugins
on ros2 ros-perception/image_transport_plugins@7cedbf0
PR58 has been merged into the ros2 branch.
from zed-ros2-wrapper.
Yes, I have tried all of the above as well (as per the Description):
- compile
image_transport_plugins
from source - applying PR58 manually, then recompiling.
- observe all of the above errors with both attempts.
I can say that there are two problems generated by the same cause: the image_transport plugin does not correctly handle the namespace of the node. I continue to investigate the problem to try to understand if it is possible to fix it
Great thank you so much Walter.
from zed-ros2-wrapper.
to use image_transport package in foxy:
mkdir -p foxy_ws/src
cd foxy_ws/src
fit clone https://github.com/ros-perception/image_common.git
cd image_common && git checkout galactic
cd .. && git clone https://github.com/ros-perception/image_transport_plugins.git
cd image_transport_plugins && git checkout foxy-devel
cd ../..
source /opt/ros/foxy/setup.bash && colcon build
source install/setup.bash
ros2 run image_transport republish compressed --ros-args -r in/compressed:=image_compressed -r out:=image_raw
from zed-ros2-wrapper.
This is a ROS2 Foxy bug that they have just solved but it has not yet been merged in the repository.
To avoid the problems you must compile the image_transport
package by source.
However the master
branch of the ZED ROS2 Wrapper is not ready to work with ROS2 Foxy, we are currently working on a Foxy release, you can checkout the dev_foxy
branch.
from zed-ros2-wrapper.
Recompiling the image_transport_plugins
package the new error
[ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'zed_node.xxxxxx.yyyyyyyyyyyyy.format' could not be set: Not supported
comes out.
I suppose that this is caused by the wrong handling of the params namespace by the applied patch.
I'm working on it to try to fix the problem, waiting for a solution by the ROS developers
from zed-ros2-wrapper.
I reverted to the "original" image_transport_plugins
package available with sudo apt install ros-foxy-image-transport-plugins
to verify what happens when advertizing the image topics and I noticed this:
[zed_wrapper-2] 1616604958.106023291 [zed2.zed_node] [INFO] *** PUBLISHED TOPICS ***
[zed_wrapper-2] 1616604958.210126809 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' could not be set: Not supported
[zed_wrapper-2]
[zed_wrapper-2] 1616604958.215524369 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_color
[zed_wrapper-2] 1616604958.216225843 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2]
[zed_wrapper-2] 1616604958.216975911 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/image_rect_gray
[zed_wrapper-2] 1616604958.216997175 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb/camera_info
[zed_wrapper-2] 1616604958.217617106 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[zed_wrapper-2]
[zed_wrapper-2] 1616604958.218326287 [zed2.zed_node] [INFO] Advertised on topic: /zed2/zed_node/rgb_raw/image_raw_color
[zed_wrapper-2] 1616604958.219129885 [zed2.zed_node] [ERROR] Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
at the very beginning, the error is not supported
then it becomes parameter 'format' has already been declared
, indeed if you look in the params list there is a format
parameter.
I can say that there are two problems generated by the same cause: the image_transport
plugin does not correctly handle the namespace of the node.
I continue to investigate the problem to try to understand if it is possible to fix it
from zed-ros2-wrapper.
Good news, thank you
from zed-ros2-wrapper.
Note that I have previously applied PR58 manually and still observed the issue with the ZED2/zed_ros2_wrapper/ROS2-foxy. Do you observe the same @Myzhar?
Thanks in advance.
from zed-ros2-wrapper.
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