Gazebo camera topic name not changing
Hello,
I'm trying to set up a gazebo simulation for my ROS package where I have a robot that is supposed to have a stereo camera and then do VSLAM with it.
The issue I have right now however is that I cannot change the name of the topics the gazebo cameras are publishing on. Here is my urdf:
<gazebo reference="left_camera_link">
<material>Gazebo/Red</material>
<sensor name="left_camera" type="camera">
<pose>0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.089</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="left_camera_controller" filename="libgazebo_ros_camera.so">
<frameName>left_camera_link_optical</frameName>
<cameraName>stereo_camera/left</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
</plugin>
</sensor>
</gazebo>
<gazebo reference="right_camera_link">
<material>Gazebo/Blue</material>
<sensor name="right_camera" type="camera">
<pose>0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.089</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="right_camera_controller" filename="libgazebo_ros_camera.so">
<frameName>right_camera_link_optical</frameName>
<cameraName>stereo_camera/right</cameraName>
<imageTopicName>image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
</plugin>
</sensor>
</gazebo>
Here I set the left camera to publish it's images on stereo_camera/right/image and the left one on stereo_camera/left/image. The syntax for settings this up I took from the Gazebo Plugins Page: https://classic.gazebosim.org/tutoria...
However when I run the simulation, these are topics I'm gettings:
/left_camera/camera_info
/left_camera/image_raw
/left_camera/image_raw/compressed
/left_camera/image_raw/compressedDepth
/left_camera/image_raw/theora
/right_camera/camera_info
/right_camera/image_raw
/right_camera/image_raw/compressed
/right_camera/image_raw/compressedDepth
/right_camera/image_raw/theora
(other irrelevant topics removed for visiblity)
Basically each camera is publishing on [sensor_name]/[default_topic], which is not what I want.
I am using ROS2 Humble with Gazebo 11.10.2. Did I write anything wrong? Is that gazebo plugins page deprecated and should I be looking at a newer one?
I also tried using snake_case like image_topic_name (instead of the camelcase imageTopicName) as i've seen some internet examples using that but still nothing worked.