Funmap trigger_drive_to_scan error

I am receiving the following error when trying to trigger drive_to_scan within the stretch_funmap ROS package:

rospy.service.ServiceException: service [/funmap/trigger_drive_to_scan] responded with an error: error processing request: Expected Ptrcv::UMat for argument ‘img’

Any help would be appreciated!


Hi @justin-chau, I believe the issue is caused by some node not coming up correctly. Here’s what calling the service on my working system looks like:

It would help me trace the error if you could post the entire output from running roslaunch stretch_funmap mapping.launch and rosservice call /funmap/trigger_drive_to_scan "{}". I’d also verify the RealSense nodes are coming up correctly by running roslaunch stretch_core d435i_high_resolution.launch.

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Next time I am with the robot, I will try your suggestion and post logs if needed.