libgazebo_ros_openni_kinect not publishing any topic
Hello! I have been stuck with this problem for a few days now, and I am not sure what is going wrong. Symptoms are very simple, the depth and image topics are not published (nor any other topic)
I am using ros2 (foxy) on ubuntu 20.04 and gazebo 11.1.0 I spawn the urdf in gazebo using a launch file and spawn_entity.py
here is my urdf:
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from watney2.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="robot_description">
<link name="base_link"/>
<link name="camera_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0 0 1"/>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="camera_link">
<sensor name="camera_link_camera" type="depth">
<update_rate>20</update_rate>
<camera>
<horizontal_fov>1.047198</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.05</near>
<far>3</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_link_controller">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<cameraName>camera1_ir</cameraName>
<imageTopicName>/camera1/color/image_raw</imageTopicName>
<cameraInfoTopicName>/camera1/color/camera_info</cameraInfoTopicName>
<depthImageTopicName>/camera1/depth/image_raw</depthImageTopicName>
<depthImageInfoTopicName>/camera1/depth/camera_info</depthImageInfoTopicName>
<pointCloudTopicName>/camera1/depth/points</pointCloudTopicName>
<frameName>camera_link</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
<pointCloudCutoffMax>3.0</pointCloudCutoffMax>
<distortionK1>0.00000001</distortionK1>
<distortionK2>0.00000001</distortionK2>
<distortionK3>0.00000001</distortionK3>
<distortionT1>0.00000001</distortionT1>
<distortionT2>0.00000001</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0</Cx>
<Cy>0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<joint name="fixed" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
</robot>