Hi,

Thanks to all,

modified stereo_camera_model.cpp in image_geometry, now I can receive /stereo/disparity message, but still there is problem in image sync when I want to view by:  rosrun image_view stereo_view stereo:=/stereo image:=image_rect  there is just three gray windows (no image) and a [WARN] message as below

any suggestion, please?

[ WARN] [1297946062.739511145]: [stereo_view] Low number of synchronized left/right/disparity triplets received.

Left images received:      104 (topic '/stereo/left/image_rect')

Right images received:     102 (topic '/stereo/right/image_rect')

Disparity images received: 18 (topic '/stereo/disparity')

Synchronized triplets: 0

Possible issues:

               * stereo_image_proc is not running.

                 Does `rosnode info /stereo_view_1297946016943512050` show any connections?

               * The cameras are not synchronized.

                 Try restarting stereo_view with parameter _approximate_sync:=True

               * The network is too slow. One or more images are dropped from each triplet.

                 Try restarting stereo_view, increasing parameter 'queue_size' (currently 5)

[ WARN] [1297946077.740713539]: [stereo_view] Low number of synchronized left/right/disparity triplets received.

Left images received:      147 (topic '/stereo/left/image_rect')

Right images received:     155 (topic '/stereo/right/image_rect')

Disparity images received: 29 (topic '/stereo/disparity')

Synchronized triplets: 0

Possible issues:

               * stereo_image_proc is not running.

                 Does `rosnode info /stereo_view_1297946016943512050` show any connections?

               * The cameras are not synchronized.

                 Try restarting stereo_view with parameter _approximate_sync:=True

               * The network is too slow. One or more images are dropped from each triplet.

                 Try restarting stereo_view, increasing parameter 'queue_size' (currently 5)