Model appears in gazebo but RGBD camera does not perceive it

asked 2019-12-12 00:07:42 -0600

Rufus gravatar image

updated 2019-12-12 01:49:35 -0600

I created a simple cube in blender and I can import the cube into gazebo with the correct texture.

The cube is able to collide with other objects in the scene.

However, when I visualize the output of an RGBD camera that is looking at the objects through rviz, the cube I created does not get perceived. Neither the depth image nor the color image sees the cube.

In fact, I can place items on top of the cube and those items will appear floating in the RGBD camera.

Interestingly, the laser scans are able to perceive it.

below is my model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="marker1">
    <pose>0 0 0.075 0 0 0</pose>
    <static>true</static>
    <link name="link">
      <collision name="collision">
        <geometry>
          <box>
            <size>0.15 0.15 0.15</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://marker_5x5_1000_1/meshes/marker1.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>

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