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There is a great tutorial on the pr2 page about implementing sensors using Gazebo and then how you can pass the image topic to image_proc which can display it.

As for stereo cameras I managed to get that working as well if anyone is interested, I have been meaning to write a guide, hopefully by this week.

Unfortunately ros site is down so I can't access any tutorial pages but you know what to look for.

As for the material, once ros is up I can maybe address that issues as well.

But getting into basics, you basically need to create a link joint to connect with your robot or whatever. Then you need to create a frame joint which you attach to the gazebo code that can be found from the gazebo_plugins page for a camera. But the pr2 tutorial should cover it all.

Generally if you want to made a certain link a material you enter this code in

<gazebo reference="link_name">
    <material>PR2/Blue</material>
</gazebo>

Now I am sure that is the write code, but can't verify, check any of the pr2 files to see an example. But basically you have to reference a link in which gazebo applies the material. As for loading in materials just see how PR2 does it.Blockquotesdsdsd<blah>Blockquote