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Under ros1, we could do:
rosrun rtabmap_odom rgbd_odometry _rgb/image_transport:=compressed _depth/image_transport:=compressedDepth ... /rgbd_odometry subscribed to (approx sync): /rgb/image/compressed \ /depth/image/compressedDepth \ /rgb/camera_info ...
and the node will subscribe to input topics with corresponding image_transport suffix.
image_transport
Similar commands under ROS2 don't work:
ros2 run rtabmap_odom rgbd_odometry --ros-args -p rgb/image_transport:=compressed -p depth/image_transport:=compressedDepth ... rgbd_odometry subscribed to (approx sync): /rgb/image, /depth/image, /rgb/camera_info ...
ros2 run rtabmap_odom rgbd_odometry --ros-args -p image_transport:=compressed ... rgbd_odometry subscribed to (approx sync): /rgb/image, /depth/image, /rgb/camera_info ...
Current workaround is to use image_transport's republish node:
republish
ros2 run image_transport republish compressed raw --ros-args -r in/compressed:=/rgb/image/compressed -r out:=/rgb/image ros2 run image_transport republish compressedDepth raw --ros-args -r in/compressedDepth:=/depth/image/compressed -r out:=/depth/image ros2 run rtabmap_odom rgbd_odometry ... rgbd_odometry subscribed to (approx sync): /rgb/image, /depth/image, /rgb/camera_info ...
The text was updated successfully, but these errors were encountered:
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Under ros1, we could do:
and the node will subscribe to input topics with corresponding
image_transport
suffix.Similar commands under ROS2 don't work:
Workaround
Current workaround is to use
image_transport
'srepublish
node:The text was updated successfully, but these errors were encountered: