Disparty to Depth image in ROS2

[HiddenNetwork]

Hi, I have a message of type stereo_msgs/DisparityImage that I would like to convert to a Depth image of type sensor_msgs/Image.

The disparity_to_depth node in rtabmap_util looks exactly like what I need.

However, it seems that the disparity_to_depth node has not been ported to ROS2 yet per this.

Is there an approximate timeline for porting this over, or any technical challenge that is blocking it?

[matlabbe]

Hi,

There was no particular reason why is was not yet ported. I added it in this commit, but I could not test it yet. You can give a try and see if it works for you.

Mathieu