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Depth Camera Gazebo11 + ROS2 Foxy

asked 2022-07-21 14:03:36 -0600

marpeja gravatar image

updated 2022-07-21 14:17:09 -0600


I have been given the following definition of a depth camera:

<gazebo reference="realsense_camera">
            <sensor name="camera" type="depth">
                <camera name="RS_D455">
                <plugin name="depth_camera_controller" filename="">

However, as I read in the Gazebo documentation the actual plugin would be The problem is that this plugin isn't available for Ros2 Foxy, and what's more, the above camera definition actually seems to work as a depth camera. In fact it publishes the following topics:


The problem is that I don't get how and where those topics are being published. I only found the GazeboRosCamera plugin ( where, in addition, there is no PointCloud attributes.

Thank you!

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answered 2022-11-25 09:02:49 -0600

NotARobot gravatar image

updated 2022-11-25 09:08:14 -0600

You are correct with the usage of, based from the name I believe is the plugin for the Kinect camera (but not a generic depth camera). Within your URDF (or better a XACRO) you are able to define on which topic to publish the camera information. This in done in the plugin context with the <ros> tag, like this:

<plugin name="depth_camera_controller" filename="">
        <imageTopicName>[your color image topic]</imageTopicName>
        <cameraInfoTopicName>[your camera info topic]</cameraInfoTopicName>
        <depthImageTopicName>[your depth image topic]</depthImageTopicName>
        <pointCloudTopicName>[your point cloud topic]</pointCloudTopicName>

I suspect if these names are not set, default names are uses for the topics.

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Asked: 2022-07-21 14:03:36 -0600

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Last updated: Nov 25 '22