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libgazebo_ros_openni_kinect plugin wrong color image

asked 2019-01-17 12:12:42 -0500

I'm trying to use the libgazebo_ros_openni_kinect plugin in a simple scene with a grass textured ground plane, a table and a coke can. I can see the color image published by the plugin in RViz. However, the color image doesn't have shadows and the grass texture sometimes is seen sometimes is not, depending on how I move the camera. See a gazebo screenshot (even the rendering of the grass in gazebo has some artifacts): image description

and the corresponding color image in RViz: image description

If I just rotate the camera a tiny bit in gazebo I completely lose the grass texture on the generated color image: image description

Why does this happen? is it a bug? how can I workaround it?

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answered 2019-01-30 10:34:05 -0500

Well, this has a beginners mistake. The default ground_plane was z-fighting with the grass one I added. Removing the default ground_plane solved the problem.

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Asked: 2019-01-17 12:12:42 -0500

Seen: 39 times

Last updated: Jan 30