Grab Single Frame From Gazebo Camera

asked 2014-09-05 17:59:05 -0600

K. Zeng
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I'm using Gazebo 2.2.3 along with ROS Indigo. I also have a robot with a mounted camera in Gazebo. I was wondering if there is a way to just grab a single frame from the robot's camera (not live feed) using ROS. It doesn't even have to display the image like with the image_view command.

answered 2014-09-06 16:19:21 -0600

Stefan Kohlbrecher

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I believe there is no pre-made plugin that does exactly what you´re asking for. You basically have two practical options:

Write your own Gazebo plugin, possibly based on a existing one like gazebo_ros_camera. This gives you most control over what is actually done in Gazebo (short of diving into Gazebo´s sources themselves)
Create a ROS node that subscribes to (stream) data from a existing camera plugin and just forward data selectively.

The latter option certainly is the easier one to implement and would be preferred if you can live with a few wasted CPU cycles.

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I understand. Now, I have an existing node that uses the gazebo/apply_joint_effort rosservice call to move my robot model. I'm assuming that it would be more practical if I just wrote a new node to stream camera data rather than trying to modify my current node to do so as well as moving the model?

K. Zeng ( 2014-09-09 14:19:59 -0600 )edit

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