[image_transport] Error when subscribing to compressedDepth image in ROS2 Humble on Raspberry Pi 5 (ARM64)

[jhuemsch]

Description:

I am encountering the following error when subscribing to a compressedDepth topic:

[1741268654.734611905] [image_republisher] [ERROR] :SubscriberPlugin::subscribeImpl with five arguments has not been overridden

This issue occurs when trying to subscribe to the compressedDepth topic and decompress the image data. The original data is coming through the topic, but decompression fails.

System Configuration:

Operating System: Ubuntu 22.04 LTS Server
ROS2 Version: Humble Hawksbill
Hardware: Raspberry Pi 5 (8GB RAM,64-bit Arm Cortex-A76 CPU)
Camera: Intel® RealSense™ D435i
Installed image_transport Plugin: ros-humble-image-transport version 3.1.10-1jammy, ros-humble-compressed-image-transport (2.5.3-1jammy.20250211.195649) , ros-humble-compressed-depth-image-transport (2.5.3-1jammy.20250211.195132) , ros-humble-image-transport-plugins (2.5.3-1jammy.20250211.200327)  and  ros-humble-theora-image-transport (2.5.3-1jammy.20250211.195649) 

Original and Compressed Headers:

Original Header:

header:
  stamp:
    sec: 1741270540
    nanosec: 166126953
  frame_id: camera_1_depth_optical_frame
height: 480
width: 640
encoding: 16UC1
is_bigendian: 0
step: 1280

Compressed Header:

header:
  stamp:
    sec: 1741270540
    nanosec: 166126953
  frame_id: camera_1_depth_optical_frame
format: 16UC1; compressedDepth

Test with ros2 topic echo:

The compressedDepth topic (/robot_1/camera_1/depth/image_rect_raw/compressedDepth) provides data when using ros2 topic echo. It seems the image data is arriving properly.

Attempts to Resolve:

1. Manual Decompression: I tried manually decompressing the compressedDepth topic using the following command:

ros2 run image_transport republish compressedDepth raw --ros-args --remap /in/compressed:=/robot_1/camera_1/depth/image_rect_raw/compressedDepth --remap /out:=/robot_1/camera_1/depth/image_rect_raw_decompressed

Unfortunately, I encountered the same error:
SubscriberPlugin::subscribeImpl with five arguments has not been overridden.

2. ROS2 Doctor Output: The output of ros2 doctor indicates that a new version of image_transport is available:

   /opt/ros/humble/lib/python3.10/site-packages/ros2doctor/api/package.py: 112: UserWarning: image_transport has been updated to a new version. local: 3.1.10 < latest: 3.1.11.

Update image_transport to Version 1.11: I attempted to update image_transport via apt-get, but the latest version (3.1.10) remains installed, and I was unable to update to version 1.11 using rosdep as well.

Question:

How can this problem be resolved? Is there a specific fix or configuration required for handling compressedDepth images correctly with ROS2 Humble and image_transport?

Additional Information:

This is my first GitHub issue, so if anything is incomplete or if more information is needed, please let me know. I will be happy to provide further details or clarification.
Thank you very much for your help!