Home | Tutorials | Wiki | Issues
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Gazebo camera plugin does not see some models that are in the simulation

HI!

I created a simple rock model, the visual is a .dae file and the collision is a simple box of roughly the same size. I then add multiple clones of the rock randomly distributed on the floor of my gazebo world (at the end of the world described in test2.sdf) I have a robot equipped with the Gazebo camera plugin. If I look inside the gazebo client gui, the rocks appear along all the other elements, and with the camera previzualization activated, it seems the camera sees everything (screenshot 1). But when I open for example rqt_image_view to check out the feed from the camera topic, then my rocks disappear (screenshot 2)! All the other elements are still viewed... Any idea why? And more importantly, any ideas how to fix this? I would like my robot to be able to see the rocks, for it to be able to avoid them, pick them up, etc.

Screenshot 1

scene in gazebo

Screenshot 2

image topic view

Here are the files of my model

model.config

<?xml version="1.0"?>

<model>
  <name>unit_box_1</name>
  <version>1.0</version>
  <sdf version="1.5">model.sdf</sdf>

  <author>
    <name>Louis M</name>
    <email></email>
  </author>

  <description>
    A Rock.
  </description>
</model>

model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="unit_box_1">
    <link name="link">
      <inertial>
        <pose>-0.01 -0.012 0.15 0 0 0</pose>
        <mass>0.390</mass>
        <inertia>
          <ixx>0.00058</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00058</iyy>
          <iyz>0</iyz>
          <izz>0.00019</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <pose>0 0 -0.46 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.2</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 -0.46 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://unit_box_1/meshes/experimental.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
  </model>
</sdf>

experimental.dae

<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
    <asset>
        <contributor>
            <author>VCGLab</author>
            <authoring_tool>VCGLib | MeshLab</authoring_tool>
        </contributor>
        <up_axis>Y_UP</up_axis>
        <created>Wed Apr 25 01:36:10 2012</created>
        <modified>Wed Apr 25 01:36:10 2012</modified>
        <unit meter="0.00254" name="inches"/>
    </asset>
    <library_images>
        <image id="texture0" name="texture0">
          <init_from>../materials/textures/coke_can.png</init_from>
        </image>
    </library_images>
    <library_materials>
        <material id="material0" name="material0">
            <instance_effect url="#material0-fx"/>
        </material>
    </library_materials>
    <library_effects>
        <effect id="material0-fx">
          <profile_COMMON>
                <newparam sid="texture0-surface">
                    <surface type="2D">
                        <init_from>texture0</init_from>
                        <format>R8G8B8</format>
                    </surface>
                </newparam>
                <newparam sid="texture0-sampler">
                    <sampler2D>
                        <source>texture0-surface</source>
                        <minfilter>LINEAR</minfilter>
                        <magfilter>LINEAR</magfilter>
                    </sampler2D>
                </newparam>
                <technique sid="common">
                    <blinn>
                        <emission>
                            <color>0 0 0 1</color>
                        </emission>
                        <ambient>
                            <color>1 1 1 1</color>
                        </ambient>
                        <diffuse>
                            <texture texture="texture0" texcoord="UVSET0"/>
                        </diffuse>
                        <specular>
                            <color>0.2 0.2 0.2 1</color>
                        </specular>
                        <shininess>
                            <float>0.3</float>
                        </shininess>
                        <reflective>
                            <color>0 0 0 1</color>
                        </reflective>
                        <reflectivity>
                            <float>0.5</float>
                        </reflectivity>
                        <transparent>
                            <color>0 0 0 1</color>
                        </transparent>
                        <transparency>
                            <float>0</float>
                        </transparency>
                        <index_of_refraction>
                            <float>0</float>
                        </index_of_refraction>
                    </blinn>
                </technique>
            </profile_COMMON>
        </effect>
    </library_effects>
    <library_geometries>
        <geometry id="shape0-lib" name="shape0">
            <mesh>
                <source id="shape0-lib-positions" name="position">
                    <float_array id="shape0-lib-positions-array" count="7686">-31.52  a lot of numbers 183.9</float_array>
                    <technique_common>
                        <accessor count="2562" source="#shape0-lib-positions-array" stride="3">
                            <param name="X" type="float"/>
                            <param name="Y" type="float"/>
                            <param name="Z" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <source id="shape0-lib-normals" name="normal">
                    <float_array id="shape0-lib-normals-array" count="15360">0.671913 another lot of numbers -0.958825</float_array>
                    <technique_common>
                        <accessor count="5120" source="#shape0-lib-normals-array" stride="3">
                            <param name="X" type="float"/>
                            <param name="Y" type="float"/>
                            <param name="Z" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <source id="shape0-lib-map" name="map">
                    <float_array id="shape0-lib-map-array" count="30720">0.01326 another big lot of numbers 0.5587</float_array>
                    <technique_common>
                        <accessor count="15360" source="#shape0-lib-map-array" stride="2">
                            <param name="U" type="float"/>
                            <param name="V" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <vertices id="shape0-lib-vertices">
                    <input semantic="POSITION" source="#shape0-lib-positions"/>
                </vertices>
                <triangles count="5120" material="material0">
                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
                    <input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
                    <p>151 more numbers 15359</p>
                </triangles>
            </mesh>
        </geometry>
    </library_geometries>
    <library_visual_scenes>
        <visual_scene id="VisualSceneNode" name="VisualScene">
            <node id="node" name="node">
                <instance_geometry url="#shape0-lib">
                    <bind_material>
                        <technique_common>
                            <instance_material symbol="material0" target="#material0">
                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
                            </instance_material>
                        </technique_common>
                    </bind_material>
                </instance_geometry>
            </node>
        </visual_scene>
    </library_visual_scenes>
    <scene>
        <instance_visual_scene url="#VisualSceneNode"/>
    </scene>
</COLLADA>

and here are my launch and world files

my_robot.launch

<?xml version="1.0"?>
<launch>

  <arg name="kinect_enabled" default="false"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find my_robot_gazebo)/worlds/test2.sdf"/>
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <include file="$(find my_robot_gazebo)/launch/spawn_my_robot.launch">
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
  </include>

test2.sdf (world)

<?xml version="1.0"?>
<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='unit_box'>
      <pose frame=''>-1.48192 -2.61409 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_cylinder'>
      <pose frame=''>2.3099 2.01302 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_sphere'>
      <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_0'>
      <pose frame=''>-5.06932 6.29959 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_cylinder_0'>
      <pose frame=''>-6.40864 1.31316 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='jersey_barrier'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose frame=''>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base'>
          <pose frame=''>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base2'>
          <pose frame=''>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base3'>
          <pose frame=''>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose frame=''>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose frame=''>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
    </model>
    <model name='fire_hydrant'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
    </model>
    <model name='Construction Cone'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>4.62808 -2.04734 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>302 616000000</sim_time>
      <real_time>24 172716147</real_time>
      <wall_time>1533554757 717975782</wall_time>
      <iterations>23911</iterations>
      <model name='Construction Cone'>
        <pose frame=''>4.62808 -2.04734 -0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>4.62808 -2.04734 -0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 -0 -0.008512 -2.58585 1.13682 3.14159</acceleration>
          <wrench>0 -0 -0.008512 0 -0 0</wrench>
        </link>
      </model>
      <model name='coke_can'>
        <pose frame=''>1.05694 4.00327 -0.003988 -0.01578 0.003494 0.000221</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.05694 4.00327 -0.003988 -0.01578 0.003494 0.000221</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.452787 0.161724 -0.089413 2.0163 -0.028112 2.59238</acceleration>
          <wrench>-0.176587 0.063072 -0.034871 0 -0 0</wrench>
        </link>
      </model>
      <model name='fire_hydrant'>
        <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='jersey_barrier'>
        <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='redBall'>
        <pose frame=''>0.992707 -1.96165 0.064254 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0.992707 -1.96165 0.064254 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box'>
        <pose frame=''>-1.48192 -2.61409 0.499995 -1e-05 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-1.48192 -2.61409 0.499995 -1e-05 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
          <wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
        <pose frame=''>-5.06932 6.29959 0.499995 0 -1e-05 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.06932 6.29959 0.499995 0 -1e-05 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.010615 0.006191 -9.78231 -0.012424 -0.021225 1.8e-05</acceleration>
          <wrench>-0.010615 0.006191 -9.78231 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1'>
        <pose frame=''>1.94661 -0.659748 0.082841 -1e-06 -0 -0.000162</pose>
        <scale>0.184491 0.189101 0.165681</scale>
        <link name='link'>
          <pose frame=''>1.94661 -0.659748 0.082841 -1e-06 -0 -0.000162</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.488485 -0.384302 1.25506 -1.64469 0.369241 0.010878</acceleration>
          <wrench>-0.488485 -0.384302 1.25506 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1_0'>
        <pose frame=''>1.97596 -0.211026 0.180368 -3.1e-05 3.3e-05 0.000199</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.97596 -0.211026 0.180368 -3.1e-05 3.3e-05 0.000199</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.017424 0.19449 -2.81566 1.08492 0.148388 0.225467</acceleration>
          <wrench>0.017424 0.19449 -2.81566 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1_clone'>
        <pose frame=''>1.97018 0.280779 0.082806 -1e-06 2e-06 6.9e-05</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.97018 0.280779 0.082806 -1e-06 2e-06 6.9e-05</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.017424 -0.19449 -16.7843 0.788915 0.083756 -0.283631</acceleration>
          <wrench>-0.017424 -0.19449 -16.7843 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder'>
        <pose frame=''>2.3099 2.01302 0.499998 3e-06 -2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>2.3099 2.01302 0.499998 3e-06 -2e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder_0'>
        <pose frame=''>-6.40864 1.31316 0.499993 -3e-06 3e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-6.40864 1.31316 0.499993 -3e-06 3e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_sphere'>
        <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>2.9813 -5.98531 8.11667 -0 0.831643 1.63219</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='unit_box_1'>
      <pose frame=''>1.08633 -0.73581 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_1_clone'>
      <pose frame=''>1.00771 0.280298 0.082841 -4e-06 -0 -1e-06</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.184491 0.189101 0.165681</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.184491 0.189101 0.165681</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_1_0'>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.029796 1 0.029411</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Green</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
            <specular>0.1 0.1 0.1 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.029796 1 0.029411</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.27171 -0.064343 0 0 -0 0</pose>
    </model>
    <model name='redBall'>
      <link name='link_0'>
        <inertial>
          <mass>0.00212207</mass>
          <inertia>
            <ixx>3.5e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>3.5e-06</iyy>
            <iyz>0</iyz>
            <izz>3.5e-06</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <enable_wind>0</enable_wind>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.064254</radius>
            </sphere>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
            <specular>0.1 0.1 0.1 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.064254</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>100</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.992707 -1.96165 0 0 -0 0</pose>
    </model>
    <model name='coke_can'>
      <link name='link'>
        <inertial>
          <pose frame=''>-0.01 -0.012 0.15 0 -0 0</pose>
          <mass>0.39</mass>
          <inertia>
            <ixx>0.00058</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00058</iyy>
            <iyz>0</iyz>
            <izz>0.00019</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>1e+07</kp>
                <kd>1</kd>
                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>1.05695 4.00333 0 0 -0 0</pose>
    </model>
 <!-- Testing the automatic population of objects -->
    <population name="rock_pop1">
      <model name="RockModel">
        <include>
          <static>false</static>
          <!--uri>model://coke_can</uri-->
          <uri>model:///home/louism/model_editor_models/unit_box_2</uri>
        </include>
      </model>
      <pose>0 0 0.1 0 0 0</pose>
      <box>
        <size>10 10 0.1</size>
      </box>
      <model_count>10</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <population name="rock_pop_main">
      <model name="RockModelMain">
        <include>
          <static>false</static>
          <uri>model:///home/louism/model_editor_models/unit_box_2</uri>
        </include>
      </model>
      <pose>0 0 0.1 0 0 0</pose>
      <box>
        <size>10 10 0.1</size>
      </box>
      <model_count>1</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>
  </world>
</sdf>
</launch>

Thank you very much for any input on how to get my camera to see those rocks!

Gazebo camera plugin does not see some models that are in the simulation

HI!

I created a simple rock model, the visual is a .dae file and the collision is a simple box of roughly the same size. I then add multiple clones of the rock randomly distributed on the floor of my gazebo world (at the end of the world described in test2.sdf) I have a robot equipped with the Gazebo camera plugin. If I look inside the gazebo client gui, the rocks appear along all the other elements, and with the camera previzualization activated, it seems the camera sees everything (screenshot 1). But when I open for example rqt_image_view to check out the feed from the camera topic, then my rocks disappear (screenshot 2)! All the other elements are still viewed... Any idea why? And more importantly, any ideas how to fix this? I would like my robot to be able to see the rocks, for it to be able to avoid them, pick them up, etc.

Screenshot 1

scene in gazebo

Screenshot 2

image topic view

Here are the files of my model

model.config

<?xml version="1.0"?>

<model>
  <name>unit_box_1</name>
  <version>1.0</version>
  <sdf version="1.5">model.sdf</sdf>

  <author>
    <name>Louis M</name>
    <email></email>
  </author>

  <description>
    A Rock.
  </description>
</model>

model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="unit_box_1">
    <link name="link">
      <inertial>
        <pose>-0.01 -0.012 0.15 0 0 0</pose>
        <mass>0.390</mass>
        <inertia>
          <ixx>0.00058</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00058</iyy>
          <iyz>0</iyz>
          <izz>0.00019</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <pose>0 0 -0.46 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05 0.05 0.2</size>
          </box>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>1</mu>
              <mu2>1</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
          <bounce>
            <restitution_coefficient>0</restitution_coefficient>
            <threshold>1e+06</threshold>
          </bounce>
          <contact>
            <collide_without_contact>0</collide_without_contact>
            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
            <collide_bitmask>1</collide_bitmask>
            <ode>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
              <max_vel>0.01</max_vel>
              <min_depth>0</min_depth>
            </ode>
            <bullet>
              <split_impulse>1</split_impulse>
              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
              <soft_cfm>0</soft_cfm>
              <soft_erp>0.2</soft_erp>
              <kp>1e+13</kp>
              <kd>1</kd>
            </bullet>
          </contact>
        </surface>
      </collision>
      <visual name="visual">
        <pose>0 0 -0.46 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://unit_box_1/meshes/experimental.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <static>0</static>
    <allow_auto_disable>1</allow_auto_disable>
  </model>
</sdf>

experimental.dae

<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
    <asset>
        <contributor>
            <author>VCGLab</author>
            <authoring_tool>VCGLib | MeshLab</authoring_tool>
        </contributor>
        <up_axis>Y_UP</up_axis>
        <created>Wed Apr 25 01:36:10 2012</created>
        <modified>Wed Apr 25 01:36:10 2012</modified>
        <unit meter="0.00254" name="inches"/>
    </asset>
    <library_images>
        <image id="texture0" name="texture0">
          <init_from>../materials/textures/coke_can.png</init_from>
        </image>
    </library_images>
    <library_materials>
        <material id="material0" name="material0">
            <instance_effect url="#material0-fx"/>
        </material>
    </library_materials>
    <library_effects>
        <effect id="material0-fx">
          <profile_COMMON>
                <newparam sid="texture0-surface">
                    <surface type="2D">
                        <init_from>texture0</init_from>
                        <format>R8G8B8</format>
                    </surface>
                </newparam>
                <newparam sid="texture0-sampler">
                    <sampler2D>
                        <source>texture0-surface</source>
                        <minfilter>LINEAR</minfilter>
                        <magfilter>LINEAR</magfilter>
                    </sampler2D>
                </newparam>
                <technique sid="common">
                    <blinn>
                        <emission>
                            <color>0 0 0 1</color>
                        </emission>
                        <ambient>
                            <color>1 1 1 1</color>
                        </ambient>
                        <diffuse>
                            <texture texture="texture0" texcoord="UVSET0"/>
                        </diffuse>
                        <specular>
                            <color>0.2 0.2 0.2 1</color>
                        </specular>
                        <shininess>
                            <float>0.3</float>
                        </shininess>
                        <reflective>
                            <color>0 0 0 1</color>
                        </reflective>
                        <reflectivity>
                            <float>0.5</float>
                        </reflectivity>
                        <transparent>
                            <color>0 0 0 1</color>
                        </transparent>
                        <transparency>
                            <float>0</float>
                        </transparency>
                        <index_of_refraction>
                            <float>0</float>
                        </index_of_refraction>
                    </blinn>
                </technique>
            </profile_COMMON>
        </effect>
    </library_effects>
    <library_geometries>
        <geometry id="shape0-lib" name="shape0">
            <mesh>
                <source id="shape0-lib-positions" name="position">
                    <float_array id="shape0-lib-positions-array" count="7686">-31.52  a lot of numbers 183.9</float_array>
                    <technique_common>
                        <accessor count="2562" source="#shape0-lib-positions-array" stride="3">
                            <param name="X" type="float"/>
                            <param name="Y" type="float"/>
                            <param name="Z" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <source id="shape0-lib-normals" name="normal">
                    <float_array id="shape0-lib-normals-array" count="15360">0.671913 another lot of numbers -0.958825</float_array>
                    <technique_common>
                        <accessor count="5120" source="#shape0-lib-normals-array" stride="3">
                            <param name="X" type="float"/>
                            <param name="Y" type="float"/>
                            <param name="Z" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <source id="shape0-lib-map" name="map">
                    <float_array id="shape0-lib-map-array" count="30720">0.01326 another big lot of numbers 0.5587</float_array>
                    <technique_common>
                        <accessor count="15360" source="#shape0-lib-map-array" stride="2">
                            <param name="U" type="float"/>
                            <param name="V" type="float"/>
                        </accessor>
                    </technique_common>
                </source>
                <vertices id="shape0-lib-vertices">
                    <input semantic="POSITION" source="#shape0-lib-positions"/>
                </vertices>
                <triangles count="5120" material="material0">
                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
                    <input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
                    <p>151 more numbers 15359</p>
                </triangles>
            </mesh>
        </geometry>
    </library_geometries>
    <library_visual_scenes>
        <visual_scene id="VisualSceneNode" name="VisualScene">
            <node id="node" name="node">
                <instance_geometry url="#shape0-lib">
                    <bind_material>
                        <technique_common>
                            <instance_material symbol="material0" target="#material0">
                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
                            </instance_material>
                        </technique_common>
                    </bind_material>
                </instance_geometry>
            </node>
        </visual_scene>
    </library_visual_scenes>
    <scene>
        <instance_visual_scene url="#VisualSceneNode"/>
    </scene>
</COLLADA>

and here are my launch and world files

my_robot.launch

<?xml version="1.0"?>
<launch>

  <arg name="kinect_enabled" default="false"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find my_robot_gazebo)/worlds/test2.sdf"/>
    <arg name="paused" value="true"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <include file="$(find my_robot_gazebo)/launch/spawn_my_robot.launch">
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
  </include>

test2.sdf (world)

<?xml version="1.0"?>
<sdf version='1.6'>
  <world name='default'>
    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose frame=''>0 0 10 0 -0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.2 0.2 0.2 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name='ground_plane'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>65535</collide_bitmask>
              <ode/>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <cast_shadows>0</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <gravity>0 0 -9.8</gravity>
    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
    <atmosphere type='adiabatic'/>
    <physics name='default_physics' default='0' type='ode'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>1</shadows>
    </scene>
    <wind/>
    <spherical_coordinates>
      <surface_model>EARTH_WGS84</surface_model>
      <latitude_deg>0</latitude_deg>
      <longitude_deg>0</longitude_deg>
      <elevation>0</elevation>
      <heading_deg>0</heading_deg>
    </spherical_coordinates>
    <model name='unit_box'>
      <pose frame=''>-1.48192 -2.61409 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_cylinder'>
      <pose frame=''>2.3099 2.01302 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_sphere'>
      <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_0'>
      <pose frame=''>-5.06932 6.29959 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_cylinder_0'>
      <pose frame=''>-6.40864 1.31316 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.145833</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.145833</iyy>
            <iyz>0</iyz>
            <izz>0.125</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <cylinder>
              <radius>0.5</radius>
              <length>1</length>
            </cylinder>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='jersey_barrier'>
      <static>1</static>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='upright'>
          <pose frame=''>0 0 0.5715 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.3063 1.143</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base'>
          <pose frame=''>0 0 0.032258 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.8107 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base2'>
          <pose frame=''>0 0 0.1 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.65 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='base3'>
          <pose frame=''>0 0 0.2 0 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='left-angle'>
          <pose frame=''>0 -0.224 0.2401 0.9 -0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='right-angle'>
          <pose frame=''>0 0.224 0.2401 -0.9 0 0</pose>
          <geometry>
            <box>
              <size>4.06542 0.5 0.064516</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
    </model>
    <model name='fire_hydrant'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://fire_hydrant/meshes/fire_hydrant.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
    </model>
    <model name='Construction Cone'>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <scale>10 10 10</scale>
              <uri>model://construction_cone/meshes/construction_cone.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1</mass>
        </inertial>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>4.62808 -2.04734 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>302 616000000</sim_time>
      <real_time>24 172716147</real_time>
      <wall_time>1533554757 717975782</wall_time>
      <iterations>23911</iterations>
      <model name='Construction Cone'>
        <pose frame=''>4.62808 -2.04734 -0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>4.62808 -2.04734 -0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 -0 -0.008512 -2.58585 1.13682 3.14159</acceleration>
          <wrench>0 -0 -0.008512 0 -0 0</wrench>
        </link>
      </model>
      <model name='coke_can'>
        <pose frame=''>1.05694 4.00327 -0.003988 -0.01578 0.003494 0.000221</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.05694 4.00327 -0.003988 -0.01578 0.003494 0.000221</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.452787 0.161724 -0.089413 2.0163 -0.028112 2.59238</acceleration>
          <wrench>-0.176587 0.063072 -0.034871 0 -0 0</wrench>
        </link>
      </model>
      <model name='fire_hydrant'>
        <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-0.809164 5.94749 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='jersey_barrier'>
        <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.78633 -5.44901 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='redBall'>
        <pose frame=''>0.992707 -1.96165 0.064254 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link_0'>
          <pose frame=''>0.992707 -1.96165 0.064254 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box'>
        <pose frame=''>-1.48192 -2.61409 0.499995 -1e-05 -0 -0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-1.48192 -2.61409 0.499995 -1e-05 -0 -0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.004709 0.011055 -9.78158 -0.022108 0.009414 1e-06</acceleration>
          <wrench>0.004709 0.011055 -9.78158 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_0'>
        <pose frame=''>-5.06932 6.29959 0.499995 0 -1e-05 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-5.06932 6.29959 0.499995 0 -1e-05 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.010615 0.006191 -9.78231 -0.012424 -0.021225 1.8e-05</acceleration>
          <wrench>-0.010615 0.006191 -9.78231 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1'>
        <pose frame=''>1.94661 -0.659748 0.082841 -1e-06 -0 -0.000162</pose>
        <scale>0.184491 0.189101 0.165681</scale>
        <link name='link'>
          <pose frame=''>1.94661 -0.659748 0.082841 -1e-06 -0 -0.000162</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.488485 -0.384302 1.25506 -1.64469 0.369241 0.010878</acceleration>
          <wrench>-0.488485 -0.384302 1.25506 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1_0'>
        <pose frame=''>1.97596 -0.211026 0.180368 -3.1e-05 3.3e-05 0.000199</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.97596 -0.211026 0.180368 -3.1e-05 3.3e-05 0.000199</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0.017424 0.19449 -2.81566 1.08492 0.148388 0.225467</acceleration>
          <wrench>0.017424 0.19449 -2.81566 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_box_1_clone'>
        <pose frame=''>1.97018 0.280779 0.082806 -1e-06 2e-06 6.9e-05</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.97018 0.280779 0.082806 -1e-06 2e-06 6.9e-05</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>-0.017424 -0.19449 -16.7843 0.788915 0.083756 -0.283631</acceleration>
          <wrench>-0.017424 -0.19449 -16.7843 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder'>
        <pose frame=''>2.3099 2.01302 0.499998 3e-06 -2e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>2.3099 2.01302 0.499998 3e-06 -2e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_cylinder_0'>
        <pose frame=''>-6.40864 1.31316 0.499993 -3e-06 3e-06 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>-6.40864 1.31316 0.499993 -3e-06 3e-06 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 -9.8 0 -0 0</acceleration>
          <wrench>0 0 -9.8 0 -0 0</wrench>
        </link>
      </model>
      <model name='unit_sphere'>
        <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>1.94274 -3.5363 0.5 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>2.9813 -5.98531 8.11667 -0 0.831643 1.63219</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
    <model name='unit_box_1'>
      <pose frame=''>1.08633 -0.73581 0.5 0 -0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_1_clone'>
      <pose frame=''>1.00771 0.280298 0.082841 -4e-06 -0 -1e-06</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <box>
              <size>0.184491 0.189101 0.165681</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.184491 0.189101 0.165681</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
    <model name='unit_box_1_0'>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.166667</iyy>
            <iyz>0</iyz>
            <izz>0.166667</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.029796 1 0.029411</size>
            </box>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Green</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
            <specular>0.1 0.1 0.1 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.029796 1 0.029411</size>
            </box>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>1.27171 -0.064343 0 0 -0 0</pose>
    </model>
    <model name='redBall'>
      <link name='link_0'>
        <inertial>
          <mass>0.00212207</mass>
          <inertia>
            <ixx>3.5e-06</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>3.5e-06</iyy>
            <iyz>0</iyz>
            <izz>3.5e-06</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <gravity>1</gravity>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <enable_wind>0</enable_wind>
        <visual name='visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.064254</radius>
            </sphere>
          </geometry>
          <material>
            <lighting>1</lighting>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
            <shader type='pixel'>
              <normal_map>__default__</normal_map>
            </shader>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
            <specular>0.1 0.1 0.1 1</specular>
            <emissive>0 0 0 1</emissive>
          </material>
          <transparency>0</transparency>
          <cast_shadows>1</cast_shadows>
        </visual>
        <collision name='collision'>
          <laser_retro>0</laser_retro>
          <max_contacts>10</max_contacts>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>0.064254</radius>
            </sphere>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>100</mu2>
                <fdir1>0 0 0</fdir1>
                <slip1>0</slip1>
                <slip2>0</slip2>
              </ode>
              <torsional>
                <coefficient>1</coefficient>
                <patch_radius>0</patch_radius>
                <surface_radius>0</surface_radius>
                <use_patch_radius>1</use_patch_radius>
                <ode>
                  <slip>0</slip>
                </ode>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>1e+06</threshold>
            </bounce>
            <contact>
              <collide_without_contact>0</collide_without_contact>
              <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
              <collide_bitmask>1</collide_bitmask>
              <ode>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
                <max_vel>0.01</max_vel>
                <min_depth>0</min_depth>
              </ode>
              <bullet>
                <split_impulse>1</split_impulse>
                <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
                <soft_cfm>0</soft_cfm>
                <soft_erp>0.2</soft_erp>
                <kp>1e+13</kp>
                <kd>1</kd>
              </bullet>
            </contact>
          </surface>
        </collision>
      </link>
      <static>0</static>
      <allow_auto_disable>1</allow_auto_disable>
      <pose frame=''>0.992707 -1.96165 0 0 -0 0</pose>
    </model>
    <model name='coke_can'>
      <link name='link'>
        <inertial>
          <pose frame=''>-0.01 -0.012 0.15 0 -0 0</pose>
          <mass>0.39</mass>
          <inertia>
            <ixx>0.00058</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.00058</iyy>
            <iyz>0</iyz>
            <izz>0.00019</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <contact>
              <ode>
                <kp>1e+07</kp>
                <kd>1</kd>
                <min_depth>0.001</min_depth>
                <max_vel>0.1</max_vel>
              </ode>
            </contact>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <pose frame=''>0 0 -0.46 0 -0 0</pose>
          <geometry>
            <mesh>
              <uri>model://coke_can/meshes/coke_can.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <pose frame=''>1.05695 4.00333 0 0 -0 0</pose>
    </model>
 <!-- Testing the automatic population of objects -->
    <population name="rock_pop1">
      <model name="RockModel">
        <include>
          <static>false</static>
          <!--uri>model://coke_can</uri-->
          <uri>model:///home/louism/model_editor_models/unit_box_2</uri>
        </include>
      </model>
      <pose>0 0 0.1 0 0 0</pose>
      <box>
        <size>10 10 0.1</size>
      </box>
      <model_count>10</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>

    <population name="rock_pop_main">
      <model name="RockModelMain">
        <include>
          <static>false</static>
          <uri>model:///home/louism/model_editor_models/unit_box_2</uri>
        </include>
      </model>
      <pose>0 0 0.1 0 0 0</pose>
      <box>
        <size>10 10 0.1</size>
      </box>
      <model_count>1</model_count>
      <distribution>
        <type>random</type>
      </distribution>
    </population>
  </world>
</sdf>
</launch>

Thank you very much for any input on how to get my camera to see those rocks!

For info I am using Gazebo 9 with ROS Kinetic