I cannot see realsense topic when I rostopic list
Dear users,
I am a ros beginner and I try to create a robot on gazebo, with many sensors as IMU, cameras, lidar, sonar... I want to create it using urdf (no xacro for the moment).
However, I have an issue with the realsense camera I want to simulate. There are no topics in the rostopic list when I run the simulation.
Here is what I have written in my robot_test.urdf:
<link name='camera_link'>
<visual>
<origin xyz='0 0 0' rpy='0 0 0'/>
<geometry>
<box size='0.0078 0.130 0.0192'/>
</geometry>
</visual>
<collision>
<origin xyz='0 0 0' rpy='0 0 0'/>
<geometry>
<box size='0.0078 0.130 0.0192'/>
</geometry>
</collision>
<inertial>
<mass value='0.052' />
<origin xyz='0 0.320 0.1596' rpy='0 0 0'/>
<inertia ixx='1e-6' ixy='0' ixz='0' iyy='1e-6' iyz='0' izz='1e-6' />
</inertial>
<static>0</static>
<allow_auto_disable>1</allow_auto_disable>
</link>
<joint name='camera_joint' type='fixed'>
<origin xyz='0 0.320 0.1596' rpy='0 0 1.57079'/>
<parent link='base_link'/>
<child link='camera_link'/>
</joint>
<!-- Virtual links representing the cameras positions and orientations-->
<link name="camera_color" />
<link name="camera_depth" />
<link name="camera_ired1" />
<link name="camera_ired2" />
<!-- Joints positioning the virtual links with respect to the camera main link-->
<joint name="camera_color_joint" type="fixed">
<parent link="camera_link" />
<child link="camera_color" />
<!-- <origin xyz="0 -0.046 0.004" rpy="0 0 0"/> -->
<!-- The default position is change since in Rviz the cloud depth axis is Z not X-->
<origin xyz="0 -0.046 0.004" rpy="${pi/2} ${pi} ${pi/2}"/>
</joint>
<joint name="camera_depth_joint" type="fixed">
<parent link="camera_link" />
<child link="camera_depth" />
<origin xyz="0 -0.03 0.004" rpy="0 0 0"/>
</joint>
<joint name="camera_ired1_joint" type="fixed">
<parent link="camera_link" />
<child link="camera_ired1" />
<origin xyz="0 -0.06 0.004" rpy="0 0 0"/>
</joint>
<joint name="camera_ired2_joint" type="fixed">
<parent link="camera_link" />
<child link="camera_ired2" />
<origin xyz="0 0.01 0.004" rpy="0 0 0"/>
</joint>
<gazebo>
<plugin name="realsense_plugin" filename="librealsense_gazebo_plugin.so">
<prefix>cam</prefix>
<depthUpdateRate>60.0</depthUpdateRate>
<colorUpdateRate>60.0</colorUpdateRate>
<infraredUpdateRate>60.0</infraredUpdateRate>
<depthTopicName>depth/image_raw</depthTopicName>
<depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>color/image_raw</colorTopicName>
<colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>infra1/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>infra2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>infrared1_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>infrared2_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.2</rangeMinDepth>
<rangeMaxDepth>10.0</rangeMaxDepth>
<pointCloud>false</pointCloud>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<pointCloudCutoff>0.5</pointCloudCutoff>
</plugin>
</gazebo>
<gazebo reference='camera_link'>
<sensor name='color' type='camera'>
<pose>0 -0.046 0.004 0 0 0</pose>
<camera name='__default__'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>RGB_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>1</visualize>
</sensor>
<sensor name='ired1' type='camera'>
<pose>0 -0.06 0.004 0 -0 0</pose>
<camera name='__default__'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name='ired2' type='camera'>
<pose frame=''>0 0.01 0.004 0 -0 0</pose>
<camera name='__default__'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>L_INT8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
<sensor name='depth' type='depth'>
<pose frame=''>0 -0.03 0.004 0 -0 0</pose>
<camera name='__default__'>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<always_on>1</always_on>
<update_rate>60</update_rate>
<visualize>0</visualize>
</sensor>
</gazebo>
I don't know wheter I have misunderstood the way I have to write it, so I would be very enjoyed if someone could help me.
I use gazebo9 with ros-melodic on ubuntu 18.04 Thank you very much.
Asked by ros_beginner on 2020-06-03 07:40:40 UTC
Answers
Hello,
you should include the plugin tag inside the sensor tag. Review this world
Asked by ahcorde on 2020-06-08 02:01:34 UTC
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