need help with camera simulation
hi all.
i using ubuntu 12.04 with ros-fuerte
i trying to connect a camera sensor to a car urdf model that i created. i follow the example on http://ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2.
this is the relevant part of my urdf (xacro) model :
<joint name="camera_joint" type="fixed">
<origin xyz="${chassis_length/2} 0 ${chassis_hight/2}" rpy="0 0 0" />
<parent link="base_link" />
<child link="camera_link"/>
</joint>
<link name="camera_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link> <gazebo reference="dany_car_camera">
<sensor:camera name="dany_car_camera">
<imageSize>640 480</imageSize>
<imageFormat>R8G8B8</imageFormat>
<hfov>90</hfov>
<nearClip>0.01</nearClip>
<farClip>100</farClip>
<updateRate>20.0</updateRate>
<controller:gazebo_ros_camera name="camera_controller" plugin="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>20.0</updateRate>
<imageTopicName>dany_car_camera/image</imageTopicName>
<frameName>camera_link</frameName>
<interface:camera name="dany_car_camera_iface"/>
</controller:gazebo_ros_camera>
</sensor:camera>
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Red</material>
</gazebo>
when i roslaunch empty_world.launch and my launch file
i get no errors about the camera. the simulation loads and runs correctly. but when i try to view the camera window by commanding
$ rosrun image_view image_view image:=dany_car_camera/image
i get an empty window.
pleas help me found my mistake. tanks.
What is the result of a rostopic list btw?
Also,
rostopic hz
is useful to check whether anything is being published.