Hey there,

I wonder if I need to rectify an image of a simulated camera (actually I need the images to be rectified)

I currently use this code to simulate a realsense camer a R200: 1 $(arg camerafps)</updaterate> <!-- should be 30 --> ${70.0 * pi/180.0} B8G8R8 $(arg camerawidth) $(arg cameraheight) 0.001 100

      <!-- disortion tag does not work in indigo -> go for kinetic! TODO
      <distortion>
        <k1>0.0</k1>
        <k2>0.0</k2>
        <k3>0.0</k3>
        <p1>-0.0</p1>
        <p2>-0.00</p2>
        <center>0.5 0.5</center>
      </distortion> -->
    </camera>
    <plugin name="${name}_camera_depth_controller" filename="libgazebo_ros_camera.so">
      <robotNamespace>$(arg robot_name)/sensor/${name}/rgb</robotNamespace>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>${name}_rgb_optical_frame</frameName>
    </plugin>
  </sensor>

However I just get these topics:

/my_camera/sensor/camera/rgb/camera_info
/my_camera/sensor/camera/rgb/image_raw
/my_camera/sensor/camera/rgb/image_raw/compressed
/my_camera/sensor/camera/rgb/image_raw/compressed/parameter_descriptions
/my_camera/sensor/camera/rgb/image_raw/compressed/parameter_updates
/my_camera/sensor/camera/rgb/image_raw/compressedDepth
/my_camera/sensor/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/my_camera/sensor/camera/rgb/image_raw/compressedDepth/parameter_updates
/my_camera/sensor/camera/rgb/image_raw/theora
/my_camera/sensor/camera/rgb/image_raw/theora/parameter_descriptions
/my_camera/sensor/camera/rgb/image_raw/theora/parameter_updates

So no rectified image....

How can I also simulate a camera and get its rectified image?