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I cannot see realsense topic when I rostopic list

asked 2020-06-03 07:40:40 -0600

ros_beginner gravatar image

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'>

            <origin xyz='0 0 0' rpy='0 0 0'/>
                <box size='0.0078 0.130 0.0192'/>

        <origin xyz='0 0 0' rpy='0 0 0'/>
                <box size='0.0078 0.130 0.0192'/>

            <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' />



<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'/>

<!-- 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 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 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 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"/>

        <plugin name="realsense_plugin" filename="">

<gazebo reference='camera_link'>      

        <sensor name='color' type='camera'>
            <pose>0 -0.046 0.004 0 0 0</pose>
            <camera name='__default__'>


    <sensor name='ired1' type='camera'>

            <pose>0 -0.06 0.004 0 -0 0 ...
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answered 2020-06-08 02:01:34 -0600

ahcorde gravatar image


you should include the plugin tag inside the sensor tag. Review this world

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Asked: 2020-06-03 07:40:40 -0600

Seen: 43 times

Last updated: Jun 08 '20