Gazebo sdf Kinect [closed]

asked 2012-10-09 19:37:38 -0500

TheLegace gravatar image

updated 2016-10-24 08:33:24 -0500

ngrennan gravatar image

Hi, I decided to take the effort and create my model in the new sdf format. I am aware it doesn't have complete documentation. But I am trying to recreate turtlebot simulation using the libgazebo_ros_openni_kinect.so plugin.

If I launch the turtlebot simulation I can echo back pointClouds. But using the sdf(native gazebo file), I can't seem to get the pointCloud data from the supposed Kinect.

If I echo the topic I get this:

WARNING: no messages received and simulated time is active. Is /clock being published?

Here is the relevant section from model file. I actually took this from a file I googled up. Not entirely sure if it works completely. So far not so sure.

One other thing, not sure if it is relevant, but I think I should be running a plugin for the joint state publisher. It seems to be missing, and I wonder if the tf is necessary for the kinect range measurements. Also I am wondering if these parameters are all correct?

  <link name="kinect_link">
<inertial mass="0.01">
  <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
<sensor name="sensor_camera" type="depth" always_on="true" update_rate="10.0">
  <origin pose="0.0 0.0 0.0 0.0 0.0 0.0"/>
  <camera>
<horizontal_fov angle="1.578"/>
<image width="640" height="480" format="R8G8B8"/>
<clip near="0.01" far="10.0"/>
<save enabled="false" path="/tmp"/>
<depth_camera output="points" />
  </camera>
  <plugin filename="libDepthCameraPlugin.so" name="depth_camera_plugin"/>
  <plugin name="plugin_1" filename="libgazebo_ros_openni_kinect.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<image_topic_name>image_raw</image_topic_name>
    <point_cloud_topic_name>points</point_cloud_topic_name>
    <camera_info_topic_name>camera_info</camera_info_topic_name>
    <cameraName>depth_cam</cameraName>
    <frameName>/base_link</frameName>
    <point_cloud_cutoff>0.001</point_cloud_cutoff>
<distortionK1>0.00000001</distortionK1>
    <distortionK2>0.00000001</distortionK2>
    <distortionK3>0.00000001</distortionK3>
    <distortionT1>0.00000001</distortionT1>
    <distortionT2>0.00000001</distortionT2>
  </plugin>
</sensor>

</link>

Thank you, any help is appreciated.

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by tfoote
close date 2015-03-03 02:10:44.740913

Comments

Where you able to solve this problem? I am having kind of the same issues when trying to simulate the kinect. It would be great if you could help me! Because right now I have kind of the same .sdf you had when you asked the question.

Thank you!

agonzamart gravatar imageagonzamart ( 2013-06-22 07:48:12 -0500 )edit

Please ask gazebo questions at http://answers.gazebosim.org

tfoote gravatar imagetfoote ( 2015-03-03 02:10:38 -0500 )edit