Hello, I am currently trying to deploy object detection in gazebo world but when I try to subscribe to the camera topic from gazebo I cant see it in rostopic list. here is what i do: 1) ros launch my gazebo world. 2) spawn my camera sdf file with the ros camera plugin included.

I can see the camera topic under gazebo.msgs.ImageStamped but I cant see the topic in rostopics or RVIZ.

I would appreciate any help as this issue have been bothering me for two days.

world launch File:

  <launch>
  <arg name="debug" value="false"/>
  <arg name="gui" value="true"/>
  <arg name="paused" value="true"/>
  <arg name="world" value="/home/islam/catkin_ws/src/environment/world/world_test.world"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(arg world)"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="true"/>
    <arg name ="verbose" value ="true" />
  </include>

</launch>

Spawn camera:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <include file="$(find environment)/launch/spawn_sdf.launch">
        <arg name="camera_name" value="cam" />
        <arg name="x" value="0.0" />
        <arg name="y" value="0.0" />
        <arg name="z" value="0.0" />
        <arg name="roll" value="0"/>
        <arg name="pitch" value="0"/>
        <arg name="yaw" value="0.0" />
        <arg name="sdf_camera_file" value="$(find environment)/world/camera/model.sdf" />
    </include>
</launch>

Camera model.sdf:

<?xml version='1.0'?>
 <sdf version='1.6'>

  <model name='camera'>

    <pose frame=''>0 0 10 0 1.54 0</pose>
    <link name='link'>
      <visual name='visual'>
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>

      <self_collide>0</self_collide>
      <enable_wind>0</enable_wind>
      <kinematic>0</kinematic>
      <static>1</static>
      <allow_auto_disable>0</allow_auto_disable>
      <!--Gazebo Camera Plugin-->
      <gazebo reference="camera">
        <sensor type="camera" name="camera">
          <update_rate>30.0</update_rate>
          <camera name="yolo_camera">
            <horizontal_fov>1.4</horizontal_fov>
            <image>
              <width>800</width>
              <height>800</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                  That pixel's noise value is added to each of its color
                  channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>/yolo_camera/camera</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>camera</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>
      </link>

  </model>
</sdf>