Issues with SPOT Driver: UnsupportedPixelFormatRequestedError

[te5msride]

I am able to connect to the SPOT, but am now having issues with the driver.

$ ros2 launch spot_driver spot_driver.launch.py

[INFO] [launch]: All log files can be found below /home/trevor/.ros/log/2023-08-16-11-56-00-942372-trevor-XPS-17-9710-101455
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: .
[INFO] [spot_ros2-1]: process started with pid [101456]
[INFO] [robot_state_publisher-2]: process started with pid [101458]
[robot_state_publisher-2] [INFO] [1692204961.081168265] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1692204961.081236757] [robot_state_publisher]: got segment body
[robot_state_publisher-2] [INFO] [1692204961.081241393] [robot_state_publisher]: got segment front_left_hip
[robot_state_publisher-2] [INFO] [1692204961.081244897] [robot_state_publisher]: got segment front_left_lower_leg
[robot_state_publisher-2] [INFO] [1692204961.081247907] [robot_state_publisher]: got segment front_left_upper_leg
[robot_state_publisher-2] [INFO] [1692204961.081250640] [robot_state_publisher]: got segment front_rail
[robot_state_publisher-2] [INFO] [1692204961.081253967] [robot_state_publisher]: got segment front_right_hip
[robot_state_publisher-2] [INFO] [1692204961.081256621] [robot_state_publisher]: got segment front_right_lower_leg
[robot_state_publisher-2] [INFO] [1692204961.081259426] [robot_state_publisher]: got segment front_right_upper_leg
[robot_state_publisher-2] [INFO] [1692204961.081262038] [robot_state_publisher]: got segment rear_left_hip
[robot_state_publisher-2] [INFO] [1692204961.081264755] [robot_state_publisher]: got segment rear_left_lower_leg
[robot_state_publisher-2] [INFO] [1692204961.081267416] [robot_state_publisher]: got segment rear_left_upper_leg
[robot_state_publisher-2] [INFO] [1692204961.081270085] [robot_state_publisher]: got segment rear_rail
[robot_state_publisher-2] [INFO] [1692204961.081272794] [robot_state_publisher]: got segment rear_right_hip
[robot_state_publisher-2] [INFO] [1692204961.081275474] [robot_state_publisher]: got segment rear_right_lower_leg
[robot_state_publisher-2] [INFO] [1692204961.081278153] [robot_state_publisher]: got segment rear_right_upper_leg
[spot_ros2-1] [INFO] [1692204962.559677050] [spot_ros2]: Hi from spot_driver.
[spot_ros2-1] [INFO] [1692204962.564541112] [spot_ros2]: Starting ROS driver for Spot
[spot_ros2-1] [INFO] [1692204962.566417206] [spot_wrapper]: Initialising robot at 192.168.80.3
[spot_ros2-1] [INFO] [1692204962.566665429] [spot_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692204963.371498208] [spot_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692204963.680193167] [spot_wrapper]: Creating clients...
[spot_ros2-1] [INFO] [1692204963.790958271] [spot_wrapper]: Robot is not licensed for choreography: Robot is not licensed for choreography
[spot_ros2-1] [INFO] [1692204963.791188659] [spot_wrapper]: No velodyne point cloud service is available.
[spot_ros2-1] [INFO] [1692204963.809475381] [spot_wrapper]: Manipulation API is not available.
[spot_ros2-1] [INFO] [1692204963.824961738] [spot_cam_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692204964.585361315] [spot_cam_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692204964.998868171] [spot_ros2]: Found estop!
[spot_ros2-1] [INFO] [1692204965.009551731] [spot_ros2]: Spinning ros2_driver
[spot_ros2-1] [ERROR] [1692204965.019821689] [spot_wrapper]: UnsupportedPixelFormatRequestedError. Likely pixel_format is set wrong for some image request
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/install/spot_driver/lib/spot_driver/spot_ros2", line 33, in <module>
[spot_ros2-1]     sys.exit(load_entry_point('spot-driver', 'console_scripts', 'spot_ros2')())
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 2212, in main
[spot_ros2-1]     spot_ros.spin()
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 726, in spin
[spot_ros2-1]     self.mt_executor.spin()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 279, in spin
[spot_ros2-1]     self.spin_once()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 764, in spin_once
[spot_ros2-1]     self._spin_once_impl(timeout_sec)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 761, in _spin_once_impl
[spot_ros2-1]     future.result()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94, in result
[spot_ros2-1]     raise self.exception()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
[spot_ros2-1]     self._handler.send(None)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
[spot_ros2-1]     await call_coroutine(entity, arg)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 332, in _execute_timer
[spot_ros2-1]     await await_or_execute(tmr.callback)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
[spot_ros2-1]     return callback(*args)
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 896, in publish_camera_images_callback
[spot_ros2-1]     for image_entry in result:
[spot_ros2-1] TypeError: 'NoneType' object is not iterable
[ERROR] [spot_ros2-1]: process has died [pid 101456, exit code 1, cmd '/home/trevor/ros2_workspace/install/spot_driver/lib/spot_driver/spot_ros2 --ros-args -r __node:=spot_ros2'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[robot_state_publisher-2] [INFO] [1692204971.521586336] [rclcpp]: signal_handler(signum=2)
[INFO] [robot_state_publisher-2]: process has finished cleanly [pid 101458]

[heuristicus]

I think it would be useful to know whether you have the version of spot with black and white cameras or rgb cameras. The default setting for the wrapper is to try and load colour images, which may be causing the issue. You can try setting the rgb_cameras parameter of the node to false on startup.

[kahleeeb3]

There was a similar question asked in the issues page. Changing rgb_cameras to false worked for me like @heuristicus said.

[te5msride]

I've now edited the config file to include rgb_cameras = False, but still appear to be running into an issue.

$ ros2 launch spot_driver spot_driver.launch.py config_file:=~/ros2_workspace/src/spot_ros2/spot_driver/config/spot_ros_config.yaml

[INFO] [launch]: All log files can be found below /home/trevor/.ros/log/2023-08-17-08-45-53-311718-trevor-XPS-17-9710-122995
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: ~/ros2_workspace/src/spot_ros2/spot_driver/config/spot_ros_config.yaml
[INFO] [spot_ros2-1]: process started with pid [122996]
[INFO] [robot_state_publisher-2]: process started with pid [122998]
[robot_state_publisher-2] [INFO] [1692279953.441366149] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1692279953.441431441] [robot_state_publisher]: got segment body
[robot_state_publisher-2] [INFO] [1692279953.441435940] [robot_state_publisher]: got segment front_left_hip
[robot_state_publisher-2] [INFO] [1692279953.441439110] [robot_state_publisher]: got segment front_left_lower_leg
[robot_state_publisher-2] [INFO] [1692279953.441442191] [robot_state_publisher]: got segment front_left_upper_leg
[robot_state_publisher-2] [INFO] [1692279953.441444844] [robot_state_publisher]: got segment front_rail
[robot_state_publisher-2] [INFO] [1692279953.441447599] [robot_state_publisher]: got segment front_right_hip
[robot_state_publisher-2] [INFO] [1692279953.441450337] [robot_state_publisher]: got segment front_right_lower_leg
[robot_state_publisher-2] [INFO] [1692279953.441452960] [robot_state_publisher]: got segment front_right_upper_leg
[robot_state_publisher-2] [INFO] [1692279953.441455532] [robot_state_publisher]: got segment rear_left_hip
[robot_state_publisher-2] [INFO] [1692279953.441458176] [robot_state_publisher]: got segment rear_left_lower_leg
[robot_state_publisher-2] [INFO] [1692279953.441461102] [robot_state_publisher]: got segment rear_left_upper_leg
[robot_state_publisher-2] [INFO] [1692279953.441463665] [robot_state_publisher]: got segment rear_rail
[robot_state_publisher-2] [INFO] [1692279953.441466244] [robot_state_publisher]: got segment rear_right_hip
[robot_state_publisher-2] [INFO] [1692279953.441468793] [robot_state_publisher]: got segment rear_right_lower_leg
[robot_state_publisher-2] [INFO] [1692279953.441471378] [robot_state_publisher]: got segment rear_right_upper_leg
[spot_ros2-1] [INFO] [1692279954.924435836] [spot_ros2]: Hi from spot_driver.
[spot_ros2-1] [INFO] [1692279954.928961251] [spot_ros2]: Starting ROS driver for Spot
[spot_ros2-1] [INFO] [1692279954.930759485] [spot_wrapper]: Initialising robot at 192.168.80.3
[spot_ros2-1] [INFO] [1692279954.930997620] [spot_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692279955.733310669] [spot_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692279956.041528326] [spot_wrapper]: Creating clients...
[spot_ros2-1] [INFO] [1692279956.153472910] [spot_wrapper]: Robot is not licensed for choreography: Robot is not licensed for choreography
[spot_ros2-1] [INFO] [1692279956.153692371] [spot_wrapper]: No velodyne point cloud service is available.
[spot_ros2-1] [INFO] [1692279956.169889049] [spot_wrapper]: Manipulation API is not available.
[spot_ros2-1] [INFO] [1692279956.176725599] [spot_wrapper]: Switching frontleft:visual to greyscale image format.
[spot_ros2-1] [INFO] [1692279956.177044276] [spot_wrapper]: Switching frontright:visual to greyscale image format.
[spot_ros2-1] [INFO] [1692279956.177360944] [spot_wrapper]: Switching left:visual to greyscale image format.
[spot_ros2-1] [INFO] [1692279956.177684279] [spot_wrapper]: Switching right:visual to greyscale image format.
[spot_ros2-1] [INFO] [1692279956.177978603] [spot_wrapper]: Switching back:visual to greyscale image format.
[spot_ros2-1] [INFO] [1692279956.184484678] [spot_cam_wrapper]: Trying to authenticate with robot...
[spot_ros2-1] [INFO] [1692279956.958291932] [spot_cam_wrapper]: Successfully authenticated.
[spot_ros2-1] [INFO] [1692279957.381522170] [spot_ros2]: Found estop!
[spot_ros2-1] [INFO] [1692279957.381924447] [spot_ros2]: Spinning ros2_driver
[spot_ros2-1] [INFO] [1692279957.488272972] [spot_ros2]: Driver successfully started!
[spot_ros2-1] Traceback (most recent call last):
[spot_ros2-1]   File "/home/trevor/ros2_workspace/install/spot_driver/lib/spot_driver/spot_ros2", line 33, in <module>
[spot_ros2-1]     sys.exit(load_entry_point('spot-driver', 'console_scripts', 'spot_ros2')())
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 2212, in main
[spot_ros2-1]     spot_ros.spin()
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 726, in spin
[spot_ros2-1]     self.mt_executor.spin()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 279, in spin
[spot_ros2-1]     self.spin_once()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 764, in spin_once
[spot_ros2-1]     self._spin_once_impl(timeout_sec)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 761, in _spin_once_impl
[spot_ros2-1]     future.result()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 94, in result
[spot_ros2-1]     raise self.exception()
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/task.py", line 239, in __call__
[spot_ros2-1]     self._handler.send(None)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 418, in handler
[spot_ros2-1]     await call_coroutine(entity, arg)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 332, in _execute_timer
[spot_ros2-1]     await await_or_execute(tmr.callback)
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 107, in await_or_execute
[spot_ros2-1]     return callback(*args)
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/spot_ros2.py", line 897, in publish_camera_images_callback
[spot_ros2-1]     image_msg, camera_info = bosdyn_data_to_image_and_camera_info_msgs(
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/ros_helpers.py", line 245, in bosdyn_data_to_image_and_camera_info_msgs
[spot_ros2-1]     image_msg = _create_image_msg(data, robot_to_local_time, frame_prefix)
[spot_ros2-1]   File "/home/trevor/ros2_workspace/build/spot_driver/spot_driver/ros_helpers.py", line 189, in _create_image_msg
[spot_ros2-1]     image_msg = cv_bridge.cv2_to_imgmsg(cv2_image, encoding="bgr8")
[spot_ros2-1]   File "/opt/ros/humble/local/lib/python3.10/dist-packages/cv_bridge/core.py", line 277, in cv2_to_imgmsg
[spot_ros2-1]     raise CvBridgeError('encoding specified as %s, but image has incompatible type %s'
[spot_ros2-1] cv_bridge.core.CvBridgeError: encoding specified as bgr8, but image has incompatible type 8UC1
[spot_ros2-1] The following exception was never retrieved: encoding specified as bgr8, but image has incompatible type 8UC1
[ERROR] [spot_ros2-1]: process has died [pid 122996, exit code 1, cmd '/home/trevor/ros2_workspace/install/spot_driver/lib/spot_driver/spot_ros2 --ros-args -r __node:=spot_ros2 --params-file /tmp/launch_params_uh0kvurd'].

[heuristicus]

Please check to make sure you're up to date with the master branch of spot_ros2. The error here indicates that you are using code older than the commit at 54e606a, which changed the conversion which is causing this issue.