Adding a static camera to a world in gazebo ros hydro
I am trying to include a static camera model to a kitchen world and save them using rosbag. However when i launch the world file, the camera doesn't seem to be loaded as there are no rostopics for that camera nor I can see the camera in gazebo simulator. I am using ROS hydro on Ubuntu 12.04.
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="default">
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Kitchen environment -->
<include>
<uri>model://kitchen_dining</uri>
</include>
<!--Camera -->
<model name="camera_box">
<link name="camera_link">
<gravity>false</false>
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="camera_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
<sensor name="wall_camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin filename="libgazebo_ros_camera.so" name="camera_en_ros">
<robotNamespace>wall</robotNamespace>
<cameraName>wall_camera</cameraName>
<imageTopicName>raw_image</imageTopicName>
<cameraInfoTopicName>info_image</cameraInfoTopicName>
<FrameName>cameraImage</FrameName>
<Cy>0</Cy>
<Cx>0</Cx>
<updateRate>30.0</updateRate>
</plugin>
</sensor>
</link>
</model>
<!-- Own physics settings to speed up simulation -->
<physics type='ode'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<gravity>0 0 -9.8</gravity>
</physics>
</world>
</sdf>
I also looked at the camera available in the gui tag, but I don't if there is any way to save those images. What am I doing wrong, please help me with it.
I also tried adding camera model using the include tag, but if i put a tutlebotgazebo in it too, an error comes that "Sensors failed to initialize when loading model[mobilebase]." Is it that the cameras are generated to the same rostopic /camera/rgb/image_raw ?? If so, how can i get the images of the camera into a new rostopic ?
<include>
<uri>model://camera</uri>
<pose>-21 -11 12 0 0.44 0.35</pose>
<name>camera2</name>
</include>
So how do i get a rostopic for the include camera part ?? I think this will solve all my problems
Asked by dbcooper on 2014-05-23 15:33:33 UTC
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