Gazebo wide-angle camera tutorial throws error

asked 2017-05-17 03:39:39 -0500

rfn123 gravatar image

updated 2017-05-17 03:40:42 -0500

I followed this wide-angle camera tutorial to implement a fisheye camera in gazebo. Everything works fine until 180 degrees of horizontal field of view. I followed the steps of the tutorial, and when I change the horizontal fov to 360 degrees according to the code sample, gazebo crashes immediately if I check out the image topic and throws this error message:

gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted (core dumped)

I googled it and apparently it is because of passing bad values to Ogre methods which result in calculation errors. However, how come it works in the tutorial? Did I miss something?

I'm using gazebo version 7.0.0 with ROS kinetic. The camera model is written in a URDF file (I also tried it with SDF as the tutotial suggests but no luck either). Any help is appreciated!!! Thanks in advance!

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