# Revision history [back]

I found the solution by some trial and error.

For some reason I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models/kinect
2. Make a copy (in the same directory ,ie ~/.gazebo/models ) of the kinect folder and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models/kinect~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) of the kinect folder and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.
8. If step 7 also didnt work, I can only think of one last thing ( not 100% sure if this makes a difference but try to change this in all the model* files -

<mesh> <uri>model://kinect_ros/meshes/kinect.dae</uri> </mesh>

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.
8. If step 7 also didnt work, I can only think of one last thing ( not 100% sure if this makes a difference but try to change this in all the model* files -

<mesh> <uri>model://kinect_ros/meshes/kinect.dae</uri> <uri>model://<name from="" step="" 2="">/meshes/kinect.dae</uri> </mesh>

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.
8. If step 7 also didnt work, I can only think of one last thing ( not 100% sure if this makes a difference but try to change this in all the model* files -

<mesh> <uri>model://<name

<mesh><uri>model://<name from="" step="" 2="">/meshes/kinect.dae</uri> </mesh>

2="">/meshes/kinect.dae</uri></mesh>

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.
4. Open Gazebo and try adding the <name from="" step="" 2=""> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.
8. If step 7 also didnt work, I can only think of one last thing ( not 100% sure if this makes a difference but try to change this in all the model* files -

<mesh><uri>model://<name from="" step="" 2="">/meshes/kinect.dae</uri></mesh><mesh><uri>model://<name_from_step_2>/meshes/kinect.dae</uri></mesh>

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.

I found the solution by some trial and error.

Update: What I did -

1. Go to folder ~/.gazebo/models
2. Make a copy of the ~/.gazebo/models/kinect folder (in the same directory ,ie ~/.gazebo/models ) and rename it as kinect_ros or whatever you want.
3. As said in this tutorial, update the model.config and model.sdf file with the <name from="" step="" 2="">.<name_from_step_2>.
4. Open Gazebo and try adding the <name from="" step="" 2=""> <name_from_step_2> model from the "Insert" tab ( If you can find it in the list )
5. Assuming step 4 worked and you added the kinect into the Gazebo scene, try rostopic list (and the rest of the tutorial link mentioned above).
6. If step 5 didnt work, then copy paste (as directed in the tutorial above, so after the closing </camera> tag) the <plugin> ... code from tutorial .. </plugin> code into all the model*.sdf files ( model.sdf, model-1_2.sdf, model-1_3.sdf , model-1_4.sdf ).
7. Re-launch gazebo_ros and check rostopic or rviz for pointcloud.
8. If step 7 also didnt work, I can only think of one last thing ( not 100% sure if this makes a difference but try to change this in all the model* files -

<mesh><uri>model://<name_from_step_2>/meshes/kinect.dae</uri></mesh>

For some reason (probably due to the sdf version) I had to copy paste that plugin into all the model*.sdf files in the kinect folder. (or the duplicated one if you don't want to overwrite it). It works now like the tutorial describes.