Fovis: error with depth image format

Fovis: error with depth image format

ire@robot-ros-hydro:~/Fovis$ roslaunch fovis.launch 
... logging to /home/ire/.ros/log/ffa5b4d6-dd01-11e4-bfbd-40f02f707350/roslaunch-robot-ros-hydro-30341.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robot-ros-hydro:59267/

SUMMARY
========

PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads
 * /camera/depth_rectify_depth/interpolation
 * /camera/depth_registered_rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_registered_hw/max_range
 * /camera/disparity_registered_hw/min_range
 * /camera/disparity_registered_sw/max_range
 * /camera/disparity_registered_sw/min_range
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    debayer (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_registered_hw (nodelet/nodelet)
    disparity_registered_sw (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_ir (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    fovis (fovis_ros/fovis_mono_depth_odometer)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [30359]
[ INFO] [1428401718.384266591]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [30380]
process[camera/debayer-3]: started with pid [30396]
process[camera/rectify_mono-4]: started with pid [30414]
process[camera/rectify_color-5]: started with pid [30428]
process[camera/rectify_ir-6]: started with pid [30442]
process[camera/depth_rectify_depth-7]: started with pid [30456]
process[camera/depth_metric_rect-8]: started with pid [30470]
process[camera/depth_metric-9]: started with pid [30484]
process[camera/depth_points-10]: started with pid [30498]
process[camera/register_depth_rgb-11]: started with pid [30512]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [30526]
process[camera/depth_registered_rectify_depth-13]: started with pid [30540]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [30554]
process[camera/disparity_depth-15]: started with pid [30568]
process[camera/disparity_registered_sw-16]: started with pid [30582]
process[camera/disparity_registered_hw-17]: started with pid [30596]
process[camera_base_link-18]: started with pid [30610]
process[camera_base_link1-19]: started with pid [30621]
process[camera_base_link2-20]: started with pid [30632]
process[camera_base_link3-21]: started with pid [30643]
process[fovis-22]: started with pid [30654]
[ INFO] [1428401719.315541107]: Subscribing to:
	* /camera/rgb/image_rect
	* /camera/depth_registered/image_rect
	* /camera/rgb/camera_info
	* /camera/depth_registered/camera_info
[ INFO] [1428401720.095814712]: Number devices connected: 1
[ INFO] [1428401720.095901085]: 1. device on bus 003:27 is a SensorV2 (2ae) from PrimeSense (45e) with serial id 'A00365904005052A'
[ INFO] [1428401720.096615575]: Searching for device with index = 1
[ INFO] [1428401720.128808864]: Opened 'SensorV2' on bus 3:27 with serial number 'A00365904005052A'
[ INFO] [1428401720.418314644]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1428401720.418356991]: depth_frame_id = '/camera_depth_optical_frame' 
[ WARN] [1428401720.420951709]: Camera calibration file /home/ire/.ros/camera_info/rgb_A00365904005052A.yaml not found.
[ WARN] [1428401720.420985206]: Using default parameters for RGB camera calibration.
[ WARN] [1428401720.421011567]: Camera calibration file /home/ire/.ros/camera_info/depth_A00365904005052A.yaml not found.
[ WARN] [1428401720.421029734]: Using default parameters for IR camera calibration.
[ERROR] [1428401724.519658561]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.520122769]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.546359308]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.582383326]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.614722856]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.648387274]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.682392017]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.721108839]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.746327223]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.782177405]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.814350693]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.846326535]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.882166792]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.914964144]: Depth image must be in 32bit floating point format!
^C[ERROR] [1428401724.946837726]: Depth image must be in 32bit floating point format!
[ERROR] [1428401724.982374543]: Depth image must be in 32bit floating point format!
[fovis-22] killing on exit
[camera_base_link3-21] killing on exit
[camera_base_link2-20] killing on exit
[camera_base_link1-19] killing on exit
[camera_base_link-18] killing on exit
[camera/disparity_registered_hw-17] killing on exit
[camera/disparity_registered_sw-16] killing on exit
[camera/disparity_depth-15] killing on exit
[camera/points_xyzrgb_hw_registered-14] killing on exit
[camera/depth_registered_rectify_depth-13] killing on exit
[ WARN] [1428401725.082011585]: TF exception:
Lookup would require extrapolation into the future.  Requested time 1428401725.019147279 but the latest data is at time 1428401725.018707373, when looking up transform from frame [camera_depth_optical_frame] to frame [camera_rgb_optical_frame]
[camera/points_xyzrgb_sw_registered-12] killing on exit
[camera/register_depth_rgb-11] killing on exit
[camera/depth_points-10] killing on exit
[camera/depth_metric-9] killing on exit
[camera/depth_rectify_depth-7] killing on exit
[camera/depth_metric_rect-8] killing on exit
[camera/rectify_ir-6] killing on exit
[camera/rectify_color-5] killing on exit
[camera/rectify_mono-4] killing on exit
[camera/debayer-3] killing on exit
[camera/driver-2] killing on exit
[camera/camera_nodelet_manager-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done