I am trying to subscribe to the camera info topic provided by my stereo-camera using Python:
self.camera_info = rospy.Subscriber("/nerian_stereo/stereo_camera_info", CameraInfo)
however, I get the following error:
[ERROR] [1550489001.885020747]: Client [/ros_node] wants topic /nerian_stereo/stereo_camera_info to have datatype/md5sum [sensor_msgs/CameraInfo/c9a58c1b0b154e0e6da7578cb991d214], but our version has [nerian_stereo/StereoCameraInfo/eca3b527e5502c28c9f17e8c40cf1d1c]. Dropping connection.
I did check if that topic publishes or not, and it does publish the following:
header:
seq: 0
stamp:
secs: 1550489069
nsecs: 658059275
frame_id: "map"
left_info:
header:
seq: 195108
stamp:
secs: 1550489069
nsecs: 658059275
frame_id: "map"
height: 592
width: 800
distortion_model: "plumb_bob"
D: [-0.06367426558562306, 0.09877103851635476, 0.00031019558294633924, -0.00034850082816263023, -0.035294875542571706]
K: [684.0436298696771, 0.0, 383.8977028127636, 0.0, 681.8825674053443, 291.46442657960296, 0.0, 0.0, 1.0]
R: [0.9999975506787532, 0.0020932805291636923, 0.0007188971558162386, -0.0020925240090497767, 0.9999972578637527, -0.0010514790758340117, -0.000721096225178569, 0.00104997219086539, 0.9999991887889872]
P: [677.5530232455858, 0.0, 380.73382568359375, 0.0, 0.0, 677.5530232455858, 298.38965225219727, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 1
binning_y: 1
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
right_info:
header:
seq: 195108
stamp:
secs: 1550489069
nsecs: 658059275
frame_id: "map"
height: 592
width: 800
distortion_model: "plumb_bob"
D: [-0.07050014821240644, 0.15121497345155674, 0.001179938195432741, 0.0005238836140711377, -0.13054262535915223]
K: [688.81655046723, 0.0, 378.2111821877113, 0.0, 686.8626877361024, 304.3933390790509, 0.0, 0.0, 1.0]
R: [0.9999990871452151, -0.0007296095146042925, 0.0011372680829972413, 0.0007284141541189546, 0.9999991822576714, 0.0010511407178051629, -0.0011380340752739026, -0.0010503113560976435, 0.9999988008615304]
P: [677.5530232455858, 0.0, 380.73382568359375, -67.95124548529029, 0.0, 677.5530232455858, 298.38965225219727, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 1
binning_y: 1
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
Q: [1.0, 0.0, 0.0, -380.7133483886719, 0.0, 1.0, 0.0, -298.3891296386719, 0.0, 0.0, 0.0, 677.5579223632812, 0.0, 0.0, 9.971163749694824, 0.0]
T_left_right: [-0.1002891008148319, 7.317194896777106e-05, -0.00011405569753621334]
R_left_right: [0.9999959342341739, 0.0028204958709017384, -0.00041990256476554416, -0.0028213726499287835, 0.9999938100485598, -0.00210231323429016, 0.00041397039979239043, 0.0021034893883887227, 0.99999770197781]
---
What am I doing wrong?
↧
