Can someone give me working sample urdf code for a depth camera plug-in?

asked 2023-07-27 12:24:16 -0500

RichardVZ gravatar image

Ubuntu 20.04 ROS Noetic I tried taking the code from the gazebo tutorial on depth cameras but I can't get it to show the topic. Thank you in advance, this is my code below:

      <gazebo reference="camera_link">
<sensor type="camera" name="camera1">
  <update_rate>30.0</update_rate>
  <camera name="camera1">
    <horizontal_fov>1.3962634</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>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
    <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
      <baseline>0.2</baseline>
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <cameraName>camera1</cameraName>
      <imageTopicName>/camera/color/image_raw</imageTopicName>
      <cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
      <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
      <depthImageCameraInfoTopicName>/camera/depth/camera_info</depthImageCameraInfoTopicName>
      <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
      <frameName>camera_link</frameName>
      <pointCloudCutoff>0.5</pointCloudCutoff>
      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
      <distortionK1>0</distortionK1>
      <distortionK2>0</distortionK2>
      <distortionK3>0</distortionK3>
      <distortionT1>0</distortionT1>
      <distortionT2>0</distortionT2>
      <CxPrime>0</CxPrime>
      <Cx>0</Cx>
      <Cy>0</Cy>
      <focalLength>0</focalLength>
      <hackBaseline>0</hackBaseline>
    </plugin>

</sensor> </gazebo>

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