ros2 driver not working with old b/w body cams

[mschweig]

yes, we still have one of the old robots with black/white body cams. 😆

someone of the owners already on this? Otherwise I can work on a fix the next days.

[spot_ros2-1] Traceback (most recent call last): File "/home/manuel/workspaces/ros2_ws/install/spot_driver/lib/spot_driver/spot_ros2", line 73, in <module> [spot_ros2-1] from spot_driver.ros_helpers import ( [spot_ros2-1] File "/home/manuel/workspaces/ros2_ws/install/spot_driver/local/lib/python3.10/dist-packages/spot_driver/ros_helpers.py", line 17, in <module> [spot_ros2-1] from cv_bridge import CvBridge [spot_ros2-1] File "/opt/ros/humble/local/lib/python3.10/dist-packages/cv_bridge/__init__.py", line 6, in <module> [spot_ros2-1] from cv_bridge.boost.cv_bridge_boost import cvtColorForDisplay, getCvType [spot_ros2-1] AttributeError: _ARRAY_API not found [spot_ros2-1] [INFO] [1736873198.327755512] [zazu.spot_ros2]: Hi from spot_driver. [spot_ros2-1] /home/manuel/workspaces/ros2_ws/install/spot_driver/lib/spot_driver/spot_ros2:318: DeprecationWarning: MemoizingRcutilsLogger.warn() is deprecated in favor of MemoizingRcutilsLogger.warning() [spot_ros2-1] self.get_logger().warn( [spot_ros2-1] [WARN] [1736873198.329787327] [zazu.spot_ros2]: The maximum individual task rate is 20.0 Hz. You have manually set the async_tasks_rate to 10.0 which is lower and will decrease the frequency of one of the periodic tasks being run. [spot_ros2-1] [INFO] [1736873198.330320712] [zazu.spot_ros2]: Starting ROS driver for Spot for zazu [spot_image_publisher_node-8] [ERROR] [1736873199.610322584] [zazu.image_publisher]: Failed to get images: Failed to get images: 6(STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED): ImageResponse ::bosdyn::common::Status unsuccessful [spot_image_publisher_node-8] [ERROR] [1736873200.094908833] [zazu.image_publisher]: Failed to get images: Failed to get images: 6(STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED): ImageResponse ::bosdyn::common::Status unsuccessful [spot_image_publisher_node-8] [ERROR] [1736873200.492688086] [zazu.image_publisher]: Failed to get images: Failed to get images: 6(STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED): ImageResponse ::bosdyn::common::Status unsuccessful [spot_image_publisher_node-8] [ERROR] [1736873200.799021440] [zazu.image_publisher]: Failed to get images: Failed to get images: 6(STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED): ImageResponse ::bosdyn::common::Status unsuccessful [spot_image_publisher_node-8] [ERROR] [1736873201.092859612] [zazu.image_publisher]: Failed to get images: Failed to get images: 6(STATUS_UNSUPPORTED_PIXEL_FORMAT_REQUESTED): ImageResponse ::bosdyn::common::Status unsuccessful [spot_ros2-1] [INFO] [1736873201.294772974] [zazu.spot_ros2]: Found estop!

[mschweig]

feel free to assign to me :)

[khughes-bdai]

There was some semi recent activity to handle greyscale cameras: #358 and #499. Are you setting the rgb_cameras parameter to False?

[mschweig]

Yes, set it to False, both via command line and in the yaml file.

[mschweig]

seems to be a numpy versioning issue on the first look. AttributeError: _ARRAY_API not found

[mschweig]

fixed it by installing a numpy version <2 (1.24)

I saw you forced it in the Dockerfile but not on local install

spot_ros2/.devcontainer/Dockerfile

Line 49 in d486f1d

numpy==1.24.1 \

Maybe adding it to install script?

[khughes-bdai]

I am really not sure why numpy would fix this issue as all of the image publishing pipelines are in C++. Although given #492 the install script should be updated

[mschweig]

I am really not sure why numpy would fix this issue as all of the image publishing pipelines are in C++. Although given #492 the install script should be updated

cv_bridge is used in default_image_client and this module is causing the issue with numpy > 2

just double checked and reinstalled numpy > 2.

EDIT: there is an open issue at cv_bridge:

ros-perception/vision_opencv#535