ROS fuerte plugin

edit

Good evening,

I'm a little bit confused about the new configuration of the sensor controller. Now they are embedded in plugin structure. I'd like to run a camera device on gazebo ROS fuerte (Ubuntu 12.04).

My simple launch file is

<launch>
    <arg name="paused" default="true"/>
  <arg name="use_sim_time" default="false"/>
  <arg name="gui" default="true"/>

  <!-- set use_sim_time flag -->
  <group if="$(arg use_sim_time)">
    <param name="/use_sim_time" value="true" />
  </group>

  <!-- start empty world -->
  <group if="$(arg paused)">
      <node name="gazebo" pkg="gazebo" type="gazebo" args="-u $(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>
  </group>

  <!-- start gui -->
  <group if="$(arg gui)">
    <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>
  </group>

    <!-- send the erratic robot XML to param server -->
    <param name="robot_description" command="$(find xacro)/xacro.py './camera.xacro'" />

    <!-- push robot_description to factory and spawn robot in gazebo -->
    <node name="spawn_robot" pkg="gazebo" type="spawn_model"
          args="-param robot_description
                -urdf
                -z 0.1
                -model robot_description"
          respawn="false" output="screen" />

    <!-- start robot state publisher -->
    <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

<!--    <node pkg="fake_localization" type="fake_localization" name="fake_localization" respawn="true" output="screen" >-->
<!--        <param name="odom_frame_id" value="odom"/>-->
<!--    </node>-->
</launch>

where 'camera.xacro' file (I know that is deprecated but it is trivial to convert it in urdf ) is

<?xml version="1.0"?>

<robot  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 
        xmlns:xacro="http://www.ros.org/wiki/xacro" 
        name="HummingBird">

<xacro:property name="id" value="0" />
<xacro:property name="PI"       value="3.141592653589793" />
<xacro:property name="HALF_PI"  value="1.570796326794897" />

<xacro:property name="body_size"  value="0.080" />
<xacro:property name="body_mass"  value="0.300" />
  <material name="body_color">
    <color rgba="1.0 0.0 0.0 1.0"/>
  </material>

  <gazebo reference="base_link">
    <material>Gazebo/Red</material>
  </gazebo>
   <link name="base_link">
    <visual>
      <geometry>
        <box size="${body_size} ${body_size} ${body_size}"/>
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0"/>
    </visual>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="${body_mass}" />
      <inertia ixx="1e-5"  ixy="1e-10"  ixz="1e-10" iyy="1e-5" iyz="1e-10" izz="1e-5" />  
    </inertial>

    <collision>
      <geometry>
        <box size="${body_size} ${body_size} ${body_size}"/>
      </geometry>
    </collision>

  </link>

<gazebo reference="base_link">
      <sensor name='camera' type='camera' always_on='1' update_rate='30' visualize='true'>
        <camera>
          <horizontal_fov angle='1.57079633'/>
          <image width='640' height='480' format='R8G8B8'/>
          <clip near='0.1' far='100'/>
        </camera>
        <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <updateRate>30.0</updateRate>
            <cameraName>overhead_camera</cameraName>
            <frameName>overhead_camera_frame</frameName>
            <CxPrime>320.5</CxPrime>
            <Cx>320.5</Cx>
            <Cy>240.5</Cy>
            <hackBaseline>0</hackBaseline>
            <focalLength>320.000101</focalLength>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
</gazebo>
</robot>

The real problem is that the launch file is correct and everything works. The problem is when I want to show the image (I assume that the topic name for ... (more)