update

gzsim_run.sh

@@ -16,6 +16,16 @@ source /opt/ros/humble/setup.bash
 source "${ROOT}/install/setup.bash"
 set -u
 
+# The container injects /opt/vendor/python (numpy built for Python 3.12) into
+# PYTHONPATH, but ROS 2 Humble uses system Python 3.10. This mismatch crashes
+# every ROS 2 Python node that imports numpy (sensor_msgs, our depth_to_pointcloud
+# node, scan_frame_fix, etc.). Strip vendor Python paths before launching ROS 2.
+if [[ -n "${PYTHONPATH:-}" ]]; then
+  PYTHONPATH=$(echo "$PYTHONPATH" | tr ':' '\n' | grep -v '^/opt/vendor/python' | paste -sd ':' -)
+  export PYTHONPATH
+  echo "[autorun] sanitized PYTHONPATH (removed /opt/vendor/python entries)"
+fi
+
 LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
 mkdir -p "$LOG_DIR"
 

src/turtlebot3_simulations/turtlebot3_gazebo/scripts/depth_to_pointcloud.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Convert a 16-bit (L16 / 16UC1) depth image + CameraInfo into a sensor_msgs/PointCloud2.
+# Convert a depth image (16UC1 mm or 32FC1 m) + CameraInfo into a sensor_msgs/PointCloud2.
 # This replaces depth_image_proc/point_cloud_xyz for environments where that package
 # is not available or its executable is missing.
 
@@ -48,15 +48,20 @@ class DepthToPointCloud(Node):
                 throttle_duration_sec=5)
             return
 
-        if msg.encoding not in ('16UC1', 'mono16'):
+        # Decode depth image according to its encoding.
+        # Gz Sim may publish depth as either 16-bit unsigned mm (16UC1/mono16)
+        # or 32-bit float meters (32FC1), depending on sensor/bridge version.
+        if msg.encoding in ('16UC1', 'mono16'):
+            depth_raw = np.frombuffer(msg.data, dtype=np.uint16).reshape(msg.height, msg.width)
+            depth_m = depth_raw.astype(np.float32) * 0.001
+        elif msg.encoding == '32FC1':
+            depth_m = np.frombuffer(msg.data, dtype=np.float32).reshape(msg.height, msg.width)
+        else:
             self.get_logger().error(
-                f'Unsupported depth encoding: {msg.encoding}; expected 16UC1/mono16')
+                f'Unsupported depth encoding: {msg.encoding}; expected 16UC1/mono16 or 32FC1',
+                throttle_duration_sec=5)
             return
 
-        # Decode L16 depth image (mm -> m)
-        depth_mm = np.frombuffer(msg.data, dtype=np.uint16).reshape(msg.height, msg.width)
-        depth_m = depth_mm.astype(np.float32) * 0.001
-
         # Intrinsics from CameraInfo
         K = self.camera_info.k
         fx, fy = float(K[0]), float(K[4])