Incompatible QoS Policy Warning on '/multisense/aux/image_rect_color' in RViz

[josie-74]

I am encountering a QoS compatibility issue when attempting to view the '/multisense/aux/image_rect_color' topic in RViz. Here’s what I’ve tried:
"ros2 run rviz2 rviz2"

Upon checking the topic, I receive the following warning message:
[rviz]: New publisher discovered on topic '/multisense/aux/image_rect_color', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY

It appears that RViz is unable to receive messages from the publisher due to an incompatible QoS policy, specifically related to RELIABILITY_QOS_POLICY.

Could anyone advise on how to address this QoS incompatibility between RViz and the multisense viewer? Any insights on adjusting QoS settings to allow these two tools to work together would be greatly appreciated.

Thank you!

[lagilfillan69]

Hi Josie,
When you subscribe to an topic through RVIZ, it automatically sets the QOS policy to RELIABLE. All topics published through the ROS2 driver are set to a BEST_EFFORT policy. These are none compatible QOS policies, you can read more about QOS policies here.

This is any easy fix on through RVIZ side however....
Simply navigate to the topic on the left side menu, click the arrow on the side.
Next to "Topic", click the down arrow....
Click on the drop down menu next to "Reliability Policy".
Change this policy to "Best Effort"

This should solve the problem of not being able to see the camera stream!

Side Note :
If you decide to build your own customer subscriber for the Multisense Camera + Ros2 Driver, I recommend using the build in Ros Sensor QOS policy. This is a uniform QOS for most sensors and is also compatible with Multisense Cameras so you won't run into a similar issue again.