fix record/play bag function to show compressed camera images in rviz2

DCO 1.1 Signed-off-by: Tatsuya Ishihara <[email protected]>

docker/ros2/Dockerfile

@@ -83,6 +83,7 @@ RUN apt update && \
     qtbase5-dev \
     ros-$ROS_DISTRO-diagnostic-aggregator \
     ros-$ROS_DISTRO-gazebo-msgs \
+    ros-$ROS_DISTRO-image-transport-plugins \
     ros-$ROS_DISTRO-joint-state-publisher \
     ros-$ROS_DISTRO-joint-state-publisher-gui \
     ros-$ROS_DISTRO-navigation2 \

script/play_bag.sh

@@ -79,6 +79,15 @@ if (( $(echo "$start > 0.01" | bc -l) )); then
     temp_file="robot:=$temp_file"
 fi
 
+# republish uncompressed images to visualize in rviz2
+readarray -t compressed_image_topics < <(ros2 bag info $bag | grep -oP '(?<=Topic: ).*(?=/compressed )')
+for compressed_image_topic in "${compressed_image_topics[@]}"; do
+    com="ros2 run image_transport republish compressed --ros-args -r in/compressed:=$compressed_image_topic/compressed -r out:=$compressed_image_topic &"
+    echo $com
+    eval $com
+    pids+=($!)
+done
+
 com="ros2 launch cabot_debug play_bag.launch.py \
    bagfile:=$bag \
    start:=$start \

script/rosbag2-exclude-topics.txt

@@ -1,7 +1,6 @@
 ^/bond$
 ^/clock$
 ^/local/bond$
-^/.*/camera_info$
 ^/carto.*$
 ^.*image_rect_raw.*$
 ^.*aligned_depth_to_color.*$