Depth camera not working in Reiz

edit

Hi everyone,

I created this camera and attached it on the wrist_3_link of a universal robot. Unfortunately when I launch RViz and try to view the Image I can't select a topic for the image.

What am I doing wrong here?

This is the code for my depth camera:

  <?xml version="1.0"?>
<robot name="camera" xmlns:xacro="http://www.ros.org/wiki/xacro">


    <!--//////////////////////////////VARIABLEN///////////////////////////////////////////-->

    <!--Breiten der einzelnen Quader in m-->
    <xacro:property name="c_b1" value="0.08512"/><!--Halter-->
    <xacro:property name="c_b2" value="0.03194"/><!--Camera-->
    <!--Längen der einzelnen Quader in m-->
    <xacro:property name="c_l1" value="0.05"/><!--Halter-->
    <xacro:property name="c_l2" value="0.1745"/><!--Camera-->
    <!--Hoehen der einzelnen Quader in m-->
    <xacro:property name="c_h1" value="0.005"/><!--Halter-->
    <xacro:property name="c_h2" value="0.02993"/><!--Camera-->
    <!--Massen der einzelnen Quader in kg-->
    <xacro:property name="c_m1" value="0.387"/><!--Halter-->
    <xacro:property name="c_m2" value="0.2"/><!--Camera-->


    <!--///////////////////////////AUFBAU DER KAMERA///////////////////////////////////-->

    <!--link name="basis_link"></link-->

    <!--Brücke zu UR10-->
    <link name="camera_mount_link">

        <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="${c_l1} ${c_b1} ${c_h1}"/>
            </geometry>
        </visual>

        <inertial>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <mass value="${c_m1}"/>
            <inertia ixx="${(c_m1/12)*(c_h1*c_h1+c_l1*c_l1)}" ixy="0.0" ixz="0.0" iyy="${(c_m1/12)*(c_b1*c_b1+c_l1*c_l1)}" iyz="0.0" izz="${(c_m1/12)*(c_b1*c_b1+c_h1*c_h1)}"/>
        </inertial>

        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <box size="${c_l1} ${c_b1} ${c_h1}"/>
            </geometry>
        </collision>

     </link>


    <joint name="camera_mount_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="camera_mount_link"/>
        <child link="camera_link"/>
    </joint>

    <!--Kamera-->
    <link name="camera_link">

        <visual>
            <origin xyz="0 ${-c_l1} ${c_h1} " rpy="0 0 0"/>
            <geometry>
                <box size="${c_l2} ${c_b2} ${c_h2}"/>
            </geometry>
        </visual>

        <inertial>
            <origin xyz="0 ${-c_l1} ${c_h1}" rpy="0 0 0"/>
            <mass value="${c_m2}"/>
            <inertia ixx="${(c_m2/12)*(c_h2*c_h2+c_l2*c_l2)}" ixy="0.0" ixz="0.0" iyy="${(c_m2/12)*(c_b2*c_b2+c_l2*c_l2)}" iyz="0.0" izz="${(c_m2/12)*(c_b2*c_b2+c_h2*c_h2)}"/>
        </inertial>

        <collision>
            <origin xyz="0 ${-c_l1} ${c_h1}" rpy="0 0 0"/>
            <geometry>
                <box size="${c_l2} ${c_b2} ${c_h2}"/>
            </geometry>
        </collision>

    </link>

    <joint name="camera_optical_mount_joint" type="fixed">
        <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
        <parent link="camera_link"/>
        <child link="camera_optical_link"/>
    </joint>

    <!--Kamera_optic-->
    <link name="camera_optical_link"></link>

    <!--////////////////////////////////////////Gazebo-Eigenschaften///////////////////////////////////////////-->
    <gazebo reference="camera_mount_link">
        <material>Gazebo/Green</material>
    </gazebo>
    <gazebo reference="camera_link">
        <material>Gazebo/DarkGrey</material>
        <sensor name="camera" type="depth">
            <pose>0 0 0 0 0 0</pose>
            <visualize>true</visualize>
            <update_rate>10</update_rate>
            <camera>
                <horizontal_fov>1.089</horizontal_fov>
                <image>
                    <format>B8R8G8</format>
                    <width>640</width>
                    <height>480</height>
                </image>
                <clip>
                    <near>0.05</near> ...