using scitos_docking with openni2

[ToMadoRe]

Using openni2, the topic head_xtion/rgb/image_mono didn't work for me, but head_xtion/rgb/image_raw fixed it.
https://github.com/strands-project/scitos_apps/blob/hydro-devel/scitos_docking/src/scitos_docking/docking.cpp#L760

[cburbridge]

On Bob I'm using the latest released version of scitos_docking, and it works fine with openni2_launch...

[ToMadoRe]

The topic is listed, but rostopic hz head_xtion/rgb/image_mono doesn't return anything.

[cburbridge]

Did you launch openni as in strands-project/strands_systems#113 ? Could it be related to having debayer_processing:=true?

[ToMadoRe]

no, I didn't. Maybe that's why. I just started it with 'roslaunch openni2_launch openni2.launch depth_registration:=true'

[cburbridge]

I think we should try to fix things as you did to avoid having to start with debayering, since it should not be needed. At the review we put it on to get some extra topics for some component, but I don't think it was charging..

[cdondrup]

@gestom is currently on holiday so there is no way of knowing if using a colour image is somehow detrimental to the circle detector. I'll ping him when he is back.

[bfalacerda]

I'm reviving this issue because I just had the same problem trying to dock and failing, and wasnt aware that we needed to run with debayer_processing:=true. Is this really needed, or can we change docking to look at head_xtion/rgb/image_raw @gestom ?