tactile img not received

[lxiaol21]

Hello,
Thanks very much for this report!
I ran the data_collection following the steps and got the depth image, but when the program was run it showed:
"warn: tactile image not received"
Is this a normal phenomenon?
I want to get the analog tactile image like your example, how to set the parameters?

[danfergo]

It seems that your gelsight driver isn't generating the rgb images. You can try to launch the dc.launch sim:=true and then run the gelsight driver node separately (ros run gelsight_gazebo gelsight_driver.py) and investigate if it is publishing the RGB tactile images.

However, if you want, you can also just collect the depth images, and later on apply the SimulationApproach in the experiments folder (same as in the driver) and generate the RGB images from the depthmaps. This will allow you to more easily tweak/parameterize the simulation method. In that case you need to comment the if/else statement and the cv2.imwrite tactile_img in the data collection script.