changed /D435i_raw to /D435i/image_raw for the image compression in launch file

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

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)