Record rosbag while running RTABMAP with Zed mini

Software C++
1

Hello!

We’re running the example launch file provided for rtabmap with Zed Mini as shown in the below link:

We want to record a rosbag that we can use to do some post-processing and optimize the map we get.

Whenever we try recording a rosbag, we get the following error:

Processing: MicrosoftTeams-image.png…

It looks like some kind of encoding error. Does anyone have any ideas how to fix this?

2

@smruti-s can you copy and paste the error message, the screenshot is not available.

3

@Myzhar here’s the error message:

[ERROR] [1650561114.154367706]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ WARN] [1650561114.312939019]: Could not get transform from odom to base_link after 0.200000 seconds (for stamp=1650561113.422544)! Error="Lookup would require extrapolation -0.509417336s into the future. Requested time 1650561113.422543764 but the latest data is at time 1650561112.913126469, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.20208 timeout was 0.2.".
[ERROR] [1650561114.335200320]: Compressed Image Transport - JPEG compression requires 8/16-bit color format (input format is: 32FC1)
[ERROR] [1650561114.335434430]: cv_bridge exception: '[32FC1] is not a color format. but [bgr8] is. The conversion does not make sense'
[ERROR] [1650561114.339656100]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.356296795]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.372164131]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ERROR] [1650561114.386536568]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ERROR] [1650561114.401060701]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.416897027]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.432191587]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ERROR] [1650561114.446604672]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ERROR] [1650561114.461016291]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.476811339]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ERROR] [1650561114.494570555]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ERROR] [1650561114.511650557]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: mono8).
[ WARN] [1650561114.513497738]: Could not get transform from odom to base_link after 0.200000 seconds (for stamp=1650561113.622558)! Error="Lookup would require extrapolation -0.509844310s into the future. Requested time 1650561113.622557878 but the latest data is at time 1650561113.112713575, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.200345 timeout was 0.2.".
[ERROR] [1650561114.528306198]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
[ WARN] [1650561114.538549157]: Could not get transform from odom to base_link after 0.200000 seconds (for stamp=1650561113.822612)! Error="Lookup would require extrapolation -0.684948310s into the future. Requested time 1650561113.822611809 but the latest data is at time 1650561113.137663603, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.20186 timeout was 0.2.".
[ERROR] [1650561114.558475290]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgra8).
4

What is the command that you are using to record the bag?