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Function of "gazebo_ros_camera"?

asked 2014-09-10 16:02:04 -0500

K. Zeng gravatar image

updated 2014-09-11 15:21:14 -0500

Related to the answer to this question: . I'm trying to write a C++ program that will allow me to capture a single frame from a camera in Gazebo and will be basing it on gazebo_ros_camera based on advice from that answer. Can someone explain to me what exactly is gazebo_ros_camera supposed to do? The source code documentation didn't really explain it, and the ROS wiki page only mentions it in passing in various places.

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answered 2014-09-10 18:54:56 -0500

In a nutshell, it generates a simulated camera image by rendering the Gazebo world from the simulated camera´s viewpoint (using methods provided by the core gazebo code) and publishes the data according to standard ROS conventions to ROS topics (as described in REP 135).

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I see, thanks. Is it possible to write a modified version that generates an image from an actual camera in the environment, then?

K. Zeng gravatar image K. Zeng  ( 2014-09-11 15:19:56 -0500 )edit

Yes, you could make a version that publishes only single images. Not sure how easy it is to only generate single images via the Gazebo API, but I expect that is possible.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-09-12 00:57:46 -0500 )edit

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Asked: 2014-09-10 16:02:04 -0500

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Last updated: Sep 11 '14