compressedDepth in zed_ros2_wrapper

Software ROS2
,
1

Hello,

I was able to get and check /zed/zed_node/depth/depth_registered and
/zed/zed_node/depth/depth_registered/compressed
But I can’t get
/zed/zed_node/depth/depth_registered/compressedDepth
published

What configuration must be in common_stereo.yaml and zedx.yaml to get it published?
As I understood:
openni_depth_mode: true and that’s it.
in case of openni_depth_mode: false:

[ERROR] [1765325878.895019303] [compressed_depth_image_transport]: OpenCV(4.10.0-dev) /opt/opencv/modules/imgcodecs/src/loadsave.cpp:1166: error: (-2:Unspecified error) in function ‘bool cv::imencode(const String&, cv::InputArray, std::vector&, const std::vector&)’

Also, I found in other threads that you recommend installing:
sudo apt install ros-humble-image-transport-plugins ros-humble-theora-image-transport ros-humble-compressed-depth-image-transport ros-humble-compressed-image-transport

But below dustynv/ros:humble-ros-base-l4t-r36.3.0, it causes a lot of dependency problems.
Do you have a recommendation on how to get it working?

Using /zed/zed_node/depth/depth_registered/compressed has a significant gap in between /zed/zed_node/left/color/rect/image/compressed and /zed/zed_node/depth/depth_registered/compressed
DESYNC up to 0.5c - useless!!!

2

Hi @sergii

The compressedDepth image transport requires a depth map in floating point format, so openni_depth_mode must be false.

This error is something at the ROS level, related to the image_transport package, not to a behavior of the ZED ROS 2 Wrapper.
I recommend you search the internet for the error message or you ask to the ROS community:

This is required to use the image_transport package.

This is a problem with this specific Docker image, so you must ask in the correct place: