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Is libgazebo_ros_multicamera.so deprecated ? [closed]

asked 2022-04-28 04:12:57 -0500

Clement gravatar image

I'd like to add a stereo camera to my robot.
I followed the Gazebo documentation and added a Multicamera sensor: https://classic.gazebosim.org/tutoria....
But when I launch Gazebo and add my robot, I get the following error: Failed to load plugin libgazebo_ros_multicamera.so.
So I checked if it was installed using locate libgazebo_ros_ and it turned out that it was not, there was only /opt/ros/foxy/lib/libgazebo_ros_camera.so.
I tried reinstalling ros-foxy-gazebo-ros-pkgs and building the package from the sources but the library is still missing.
Hence my question, is this lib (and part of the doc) deprecated ?
How I am suppose to add a stereo camera to my rover ? If I add two cameras will they be synchronized ?

I'm using ROS2 foxy and Gazebo 11

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Closed for the following reason the question is answered, right answer was accepted by Clement
close date 2022-05-04 08:44:12.611011

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answered 2022-05-03 05:58:37 -0500

Clement gravatar image

Replacing the plugin libgazebo_ros_multicamera.so by libgazebo_ros_camera.so in the xacro definition of the sensor seems to work. At least, the images are published as well as their cameraInfo.
But the images are not published at the same timestamp even though I'm using use_sim_time, and the /clock corresponds to the time displayed in Gazebo... I also tried to launch Gazebo with the lock_step option without success.

Someone can help me with this ?
Also I'd like to understand why the libgazebo_ros_multicamera.so isn't built while the build and install ionstructions are clearly in the cmakelist.txt or gazebo_ros_pkgs.

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After a reboot, everything is synchronized...

Clement gravatar imageClement ( 2022-05-04 08:43:34 -0500 )edit

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Asked: 2022-04-28 04:12:57 -0500

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Last updated: May 03