Adding camera using Xacro
Hi I want to attach a fixed camera on my robot base in Gazebo and RViz and there are two problems with this. First of all, I can not display the camera itself (its just a box). Is there a mistake in my code? And second is, that the image stream with rqt_image_view is right, but the one in RViz seems to have something like an overlay. How so that RViz displays the same topic different?
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kinova">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="camera_size" value="1" />
<xacro:property name="offset_from_link_x" value="0.05" />
<xacro:property name="offset_from_link_y" value="0.0" />
<xacro:property name="offset_from_link_z" value="0.0" />
<link name="camera_link">
<visual>
<geometry>
<box size="${camera_size} ${camera_size} ${camera_size}"/>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
</link>
<joint name="camera_joint" type="fixed">
<parent link="kinova_link_base"/>
<child link="camera_link"/>
<origin rpy="${M_PI/2} ${-M_PI/2} 0" xyz="${offset_from_link_x} ${offset_from_link_y} ${offset_from_link_z}"/>
<axis xyz="1 0 0" />
</joint>
<gazebo reference="camera_link">
<sensor type="camera" name="camera_camera_sensor">
<update_rate>30.0</update_rate>
<camera>
<pose>0 0 0 ${-M_PI/2} 0 ${-M_PI/2}</pose>
<horizontal_fov>${85 * M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>1020</width>
<height>1020</height>
</image>
<clip>
<near>0.01</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>kinova/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot>
Thanks for your help!