gazebo and stereo_image_proc

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I know that a tutorial is in the works, but I was just hoping that somehow maybe I could get stereo_image_proc to work with the camera.

So far I have been able to get the individual camera up and running using libgazebo_ros_camera.so and image_view seems to work all right.

So I have made left and right as per the tutorial on stereo_image_proc, but it seems to crash with this error when I run....

ROS_NAMESPACE=erratic_stereo rosrun stereo_image_proc stereo_image_proc __name:=proc _approximate_sync:=True _queue_size:=10

This program crashes with the following error:

stereo_image_proc: /tmp/buildd/ros-electric-vision-opencv-1.6.9/debian/ros-electric-vision-opencv/opt/ros/electric/stacks/vision_opencv/image_geometry/src/stereo_camera_model.cpp:28: bool image_geometry::StereoCameraModel::fromCameraInfo(const CameraInfo&, const CameraInfo&): Assertion `left_.tfFrame() == right_.tfFrame()' failed. Aborted

Now it seems like a synchronizing error.

Thanks for any help. I might give the wge100 camera from the pr2 files and see if I can get stereo_image_proc working with something in gazebo.

TheLegace.