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Kinect camera not working after delete model and respawn model

Hi all,

I want to use different camera pose to take pictures of also different objects with different poses in gazebo. The problem is that after I deleted the kinect_ros model and respawned it with another different pose, the rgb image is all grey. I am assuming this is because not complete delete of camera model. And I found that the camera frame is actually different from the visual model frame since I tried to not delete the model but use set_model_state to change camera pose. However the camera will get the same pics even the pose of the visual model has already changed.

Thanks in advance for any help.