From deeb52280456af776442bd420a9483a33e0b2abe Mon Sep 17 00:00:00 2001 From: Hongyu Li Date: Thu, 10 Mar 2022 13:04:27 -0500 Subject: [PATCH] changed /D435i_raw to /D435i/image_raw for the image compression in launch file --- vz_human_state_estimation/scripts/ros_interface.py | 2 +- vz_ros_wrappers/scripts/grab_D435i.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/vz_human_state_estimation/scripts/ros_interface.py b/vz_human_state_estimation/scripts/ros_interface.py index 67d9b53..5ad12bd 100755 --- a/vz_human_state_estimation/scripts/ros_interface.py +++ b/vz_human_state_estimation/scripts/ros_interface.py @@ -34,7 +34,7 @@ class ROSInterface: self.bridge = CvBridge() #Image subscribers - rgbd_sub = message_filters.Subscriber("/D435i_raw",Image) + rgbd_sub = message_filters.Subscriber("/D435i/image_raw",Image) thermal_sub = message_filters.Subscriber("/flir_3_5_near_realsense_raw",Image) # todo: confirm the slop parameter with Paul Ghanem. 2 secs seems high diff --git a/vz_ros_wrappers/scripts/grab_D435i.py b/vz_ros_wrappers/scripts/grab_D435i.py index 7f549d0..39ede80 100755 --- a/vz_ros_wrappers/scripts/grab_D435i.py +++ b/vz_ros_wrappers/scripts/grab_D435i.py @@ -47,7 +47,7 @@ class D435i: if not self.D435i_cap.isOpened(): raise(Exception,'Unable to open video stream') self.bridge = CvBridge() - self.D435i_pub = rospy.Publisher('/D435i_raw', Image, queue_size=100) + self.D435i_pub = rospy.Publisher('/D435i/image_raw', Image, queue_size=100) self.timer = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.publish_image) self.timer_display = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.display_images)