AddingSensorsToPR2 tutorial errors
Hi guys,
I am going through the urdf/Tutorials/AddingSensorsToPR2 tutorial. This tutorial basically shows how to add new links and attach sensors to a link in gazebo. Although the new links and joints can be added and viewed properly:
I can find the ROS topic for the added camera. Here is a part of my xacro file, slightly modified from the original file on the tutorial page.
<gazebo reference="finger_tip_camera_link">
<sensor:camera name="finger_tip_camera_sensor">
<imageSize>640 480</imageSize>
<imageFormat>BAYER_BGGR8</imageFormat>
<hfov>90</hfov>
<nearClip>0.01</nearClip>
<farClip>100</farClip>
<updateRate>25.0</updateRate>
<controller:gazebo_ros_camera name="finger_tip_camera_controller" plugin="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>25.0</updateRate>
<imageTopicName>finger_tip_cam/image</imageTopicName>
<cameraInfoTopicName>finger_tip_cam/camera_info</cameraInfoTopicName>
<frameName>finger_tip_camera_link</frameName>
<interface:camera name="finger_tip_camera_iface" />
</controller:gazebo_ros_camera>
</sensor:camera>
<turnGravityOff>true</turnGravityOff>
<material>PR2/Blue</material>
</gazebo>
I didn't see any error message, just couldn't find the ROS image topic, which should be finger_tip_cam/image
in this case.
Any idea what goes wrong and where can I find the documentation on the syntax of gazebo_plugin. The Ros Camera Plugin XML Reference and Example here is fairly limited, not detailed enough for me to understand...