Hello there,

I am unable to receive data from the Nao's bottom camera through ROS and Webots. I have tried using all Webots versions from 7.2.1 back to version 6.4.4. The top camera works consistently across all these versions. I subscribe to imageraw using the naocamera.py driver and attempt to use rostopic echo on said topic, which returns no data when using the Nao's bottom camera.

I sent a message to the Cyberbotics team on Friday detailing this issue but have yet to hear back.

By default, the nao_camera.py publishes image data for the top camera. By editing the first line below, I was hoping to access the bottom camera:

self.camera_switch = rospy.get_param('~camera_switch', 0)
    if self.camera_switch == 0:
        self.frame_id = "/CameraTop_frame"
    elif self.camera_switch == 1:
        self.frame_id = "/CameraBottom_frame"
    else:
        rospy.logerr('Invalid camera_switch. Must be 0 or 1')
        exit(1)

I edit the line "self.cameraswitch = rospy.getparam('~camera_switch', 0)" and change the last '0' to a '1' to access the bottom camera.

Our team thinks it is either an issue with Webots/ROS, or perhaps we are trying to access the bottom camera in the wrong way?

Any advice please?

Thanks, Dominic.