本来想要用image_transport来将compressed图像republish成raw的,结果使用过程中遇到找不到image_transport.这一点很矛盾,因为一直都在用这个,一下是遇到的问题集锦;
1. 首先是找不到list_transport:
s———n@shinan:/opt/ros/kinetic/lib/image_transport$ rosrun image_transport list_transports
[rosrun] Couldn't find executable named list_transports below /opt/ros/kinetic/share/image_transport
查找发现/opt/ros/kinetic/lib/image_transport 里面有对应的list_transports的可执行文件,但是在share下没有,将lib下对应的可执行文件list_transport和republish拷贝进去。
然后即可执行rosrun image_transport list_transports;返回了对应的list:
image_transport/compressed
image_transport/compressedDepth
image_transport/h264
image_transport/raw
image_transport/theora
但是执行:
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
还是没有反应,不会提示出错,也不会终止程序
这时可以尝试播放包,比如我的:
rosbag play 2020-05-27-09-28-53.bag
这个包的信息如下:
types: sensor_msgs/CompressedImage [8f7a12909da2c9d3332d540a0977563f]
topics: /usb_cam150/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage
/usb_cam180/image_raw/compressed 3211 msgs : sensor_msgs/CompressedImage
s@s:/media/s/DATA/ROSbag/150+180/calib$ rosbag play 2020-05-27-09-28-53.bag
但是如果同时运行播包和republish就可以看到两个多出来几个个topic如下:
/clock
/image_republisher_1597290710044689526/compressed/parameter_descriptions
/image_republisher_1597290710044689526/compressed/parameter_updates
/image_republisher_1597290789065015274/compressed/parameter_descriptions
/image_republisher_1597290789065015274/compressed/parameter_updates
/rosout
/rosout_agg
/usb_cam150/image_raw
/usb_cam150/image_raw/compressed
/usb_cam180/image_raw
/usb_cam180/image_raw/compressed
其中/usb_cam150/image_raw 和/usb_cam180/image_raw 是我们需要的;
总结来讲,我们的目的是将包含压缩图像的bag转换成包含raw图像的bag,所需要的指令如下:
先运行:
rosrun image_transport republish compressed in:=/usb_cam150/image_raw raw out:=/usb_cam150/image_raw
rosrun image_transport republish compressed in:=/usb_cam180/image_raw raw out:=/usb_cam180/image_raw
再运行:
rosbag record -o raw.bag /usb_cam150/image_raw /usb_cam180/image_raw
最后运行:
rosbag play 2020-05-27-09-28-53.bag
如有疑问,欢迎交流: wx: baobaohaha_ 欢迎对SLAM有兴趣的小伙伴一起交流学习~~