Remapping topics in gazebo, not working?

asked 2012-12-21 04:52:27 -0500

2563 ●35 ●45 ●60

updated 2012-12-24 07:52:15 -0500

I am trying to remap a camera stream from /camera to /camera1_ns in gazebo.

<launch>
  <!-- set use_sim_time flag -->
  <param name="/use_sim_time" value="true" />

  <!-- start gazebo with an empty plane -->
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen"/>

<!-- start gui -->
<node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false" output="screen"/>

<!-- spawn model -->
 <node name="spawn_arm" pkg="gazebo" type="spawn_model" args="-file simple_arm.model -gazebo -model     simple_arm" respawn="false" output="screen" >

<!-- remapping topics -->

<remap from="/camera1_ns" to="/camera" />
</node>

</launch>

But there is no /camera1_ns listed with rostopic list. Is this approach correct or should it be done otherwise?

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answered 2012-12-22 04:59:35 -0500

joq
25443 ●181 ●256 ●408

updated 2012-12-31 07:59:49 -0500

Does it help to delete the leading '/' in the remapped names?

<remap from="camera" to="camera1_ns" />

EDIT: Maybe I got the names backwards from what you intended?

EDIT2: Move the remap from the arm_spawn node to the gazebo node.

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Thanks for your response. But it does not work. I should be able to see a camera1_ns using rostopic list?

davinci ( 2012-12-24 06:59:28 -0500 )edit

I am indeed remapping camera to camera1_ns But still not getting it to work...no camera1_ns is appearing in rostopic list. Tried it in several ways. Is the position of the remap argument okay?

davinci ( 2012-12-29 02:20:40 -0500 )edit

It is inside the spawn_arm node. Maybe you should move it to the gazebo node?

joq ( 2012-12-29 04:42:23 -0500 )edit

Yes, that works! Thanks! Seemed illogical as the simulation doesn't know anything yet about camera's at that point, but it seems to be the correct way.

davinci ( 2012-12-30 03:37:06 -0500 )edit

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answered 2017-08-19 14:20:42 -0500

Oscar Lima

831 ●6 ●30 ●16 https://www.dfki.de/en...

is better to change the topic in the urdf file, check this example, specifically in the "xxxTopicName" tags:

 <!-- ASUS Xtion PRO camera for simulation -->
  <gazebo reference="${name}_depth_frame">
    <sensor type="depth" name="${name}">
      <always_on>true</always_on>
      <update_rate>20.0</update_rate>
      <camera>
      <horizontal_fov>${60.0 * M_PI/180.0}</horizontal_fov>
      <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
      </image>
      <clip>
          <near>0.05</near>
          <far>8.0</far>
      </clip>
      </camera>
      <plugin name="${name}_camera_controller" filename="libgazebo_ros_openni_kinect.so">
        <cameraName>${name}</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>10</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth_registered/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <frameName>${name}_depth_optical_frame</frameName>
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>

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Remapping topics in gazebo, not working?

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