Hi everyone!

My first question, hopefully not the last! I had to resort to asking something myself as I'm clueless when it comes to the issue.

Before jumping into real life scenarios I wanted to play around with virtual robot and cameras through stage to get a firm grasp of it. I was trying to simulate robot driving around the world with two cameras (mounted on top of each other) and I was thinking about using stereo_image_proc to display the pointclouds within Rviz. I have managed to successfully display the up / down camera along with disparity map:

https://i.imgur.com/MApfTHS.png

I thought that with no issues I will be able to utilise /points2 topic published by stereo_image_proc to display PointCloud2 within my rviz. And well, it does display points. Just one point to be precise. Placed at the top of the camera. I have also runrostopic echo /points2 which for some reason always results in the exact same data - no matter the movement of the robot.

Here are the snippets from my stage world file:

define cam1 camera
(
  resolution [ 320 200 ]
  range [ 0.2 10 ]
  fov [ 70.0 40.0 ]
  pantilt [0.0 0.0 ]
  color "green"
  size [ 0.01 0.01 0.01 ]
)

define cam2 camera
(
  resolution [ 320 200 ]
  range [ 0.2 10 ]
  fov [ 70.0 40.0 ]
  pantilt [0.0 0.0 ]
  color "green"
  size [ 0.01 0.01 0.01 ]
)
define rob position
(
  size [0.1 0.1 0.1]
  gui_nose 1
  drive "diff"
  [...]
  cam1(pose [ -0.03 0.0 0.02 0.0])
  cam2(pose [ -0.03 0.0 0.15 0.0])
)

Hopefully that explains the problem fully. If not, please let me know and I'll be happy to clarify. I would be extremely grateful for any help as honestly at this point I'm losing so much sleep over it.