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differences between camera plugins in GAZEBO

asked 2012-09-12 01:15:05 -0600

dmeltz gravatar image

Hello all.

I looking to install a camera sensor on my robot, in a GAZEBO simulation. I encountered several different plugins :

  1. gazebo_ros_depth_camera
  2. gazebo_ros_prosilica
  3. gazebo_ros_camera

Is there difference between those different plugins ? Also i would happy to know where can i found some documentation about the plugins ? (there is nothing inside the packages... )

Thanks.

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answered 2012-09-12 07:18:42 -0600

hsu gravatar image

GazeboRosProsilica plugin strives to provide ROS topic and service interfaces similar to those provided by the Prosilica Camera hardware on PR2.

And as trinighost mentioned, GazeboRosCamera and GazeboRosDepthCamera plugin provides ROS interfaces similar to those offered by wge100 camera. The only difference between the two is that GazeboRosCamera maps to Gazebo Camera Sensor, whereas GazeboRosDepthCamera maps to the Gazebo Depth Camera Sensor. GazeboRosDepthCamera is able to publish 3D pointcloud using the camera's z-buffer.

Recently, GazeboRosDepthCamera have evolved into (been duplicated by) GazeboRosOpenniKinect (replicating ROS interface offered by openni_camera), I am looking to retire one of the two in a way that hopefully will not break anyone depending on either one of these plugins.

Please let me know if this is the information you were looking for... I'd like to update the documentation on ros wiki with more detail, your input is very valuable, thanks!

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Comments

Hi. I am looking to simulate swissranger_camera in Gazebo; I found that previous model use "gazebo block laser" as a camera plugin. We will need pointcould2 as an input source for PCL_Ros, which produce the image. But the "block laser plugin" only publish pointcloud1. I am wondering

Gazer gravatar imageGazer ( 2013-07-04 09:01:40 -0600 )edit

will ROSDepthCamera suits our needs?

Gazer gravatar imageGazer ( 2013-07-04 09:02:03 -0600 )edit
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answered 2012-09-12 06:12:19 -0600

SL Remy gravatar image

I'm a casual user of these plugins, but based on naming, the depth cam would generate information akin to the openni_camera, while the gazebo_ros_prosilica is probably a precursor to the gazebo_ros_camera, but they both should "[follow] the standard ROS API for camera drivers."

According to the gazebo_plugins wiki, the gazebo_ros_camera generates information akin to the wge100_camera.

As a note, do not be surprised if you find code that does essentially the same thing in multiple places, with different names. Hopefully they all get the documentation they need so people can find them before reinventing what's already been done. In a federated environment like ours though, this cannot really be avoided, it will just need to be managed.

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Asked: 2012-09-12 01:15:05 -0600

Seen: 2,070 times

Last updated: Sep 12 '12