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There is a Gazebo BlockLaser plugin which is able to simulate point cloud producing sensors (but there's no RGB value per point available easily AFAIK). See I added such a block laser to a erratic_robot for testing, the working xacro macro I used is here: Note that I had to make quite a few changes to how it was used in the API doc to make it work. Also note that it's performance isn't too good, so simulating a 640x480 point cloud or such will probably result in a severe slow down.

Luckily, there's work in progress regarding this topic, for some info see: In the long answer there, Kevin Watts talks about changes to Gazebo for efficiently making depth camera data available. Basically same topic as this thread, only on the mailing list. There's also a link to the related ticket on trac.