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How to use depth camera plugin in Ignition

Hi everyone. I'm trying to integrate a depth camera plugin into my SDF model, but I couldn't find any tutorial about this plugin usage in Ignition Gazebo. Is there any example of how to use it? Thanks in advance!

Asked by miguelnery on 2021-11-30 19:13:56 UTC

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Just a heads-up: if you're using ros_ign_point_cloud to get PointCloud2 messages from a simulated depth camera, there was an issue: https://github.com/ignitionrobotics/ros_ign/issues/40

It's been a month or two since I looked at it, so may have been fixed by now.

Asked by Rick Armstrong on 2021-12-02 14:51:08 UTC

Answers

Here's an example that uses a depth camera sensor: https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/examples/worlds/depth_camera_sensor.sdf

There's no specific plugin for depth cameras. You only need the Sensor plugin, which is at the top the sdf file

<plugin
  filename="ignition-gazebo-sensors-system"
  name="ignition::gazebo::systems::Sensors">
  <render_engine>ogre2</render_engine>
</plugin>

Asked by azeey on 2021-12-01 23:13:48 UTC

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