Gazebo 1.5: libgazebo_openni_kinect.so: pointcloud data is rotated and flipped?

edit

There is an other solution, using TF from ROS. you can publish a rotation transform to kinect_frame. An example to launch file is:

<node pkg="tf" type="static_transform_publisher" name="ime_slam_camera_tf" args="0 0 0 -1.58 0 -1.58 /pioneer3dx_gazebo/base_frame /camera/camera_frame 100"/>

The reason for this issue is that the gazebo plugin is not publishing /tf transforms like real openni driver do, "link" refers to physical setup, where frame is for the images. In openni_wrapper, 2 frame transforms will be published with < camera_link > as parent, but not in gazebo.

Another quick solution would be create a empty "link" in urdf and set a joint to them with rotation, see this https://answers.ros.org/question/2183...

hi，I got the same problem，how to fix it ?

<gazebo reference="kinect_link">
    <sensor type="depth" name="openni_camera_camera">       
        <always_on>1</always_on>
        <visualize>true</visualize>             
        <camera>
            <horizontal_fov>1.047</horizontal_fov>  
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <depth_camera>

            </depth_camera>
            <clip>
                <near>0.1</near>
                <far>100</far>
            </clip>
        </camera>
        <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>10.0</updateRate>
        <cameraName>camera</cameraName>
        <frameName>kinect_link</frameName>                   
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>              
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>            
        <pointCloudCutoff>0.4</pointCloudCutoff>                
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
        <CxPrime>0.0</CxPrime>
        <Cx>0.0</Cx>
        <Cy>0.0</Cy>
        <focalLength>0.0</focalLength>
        </plugin>
    </sensor>
</gazebo>![image description](/upfiles/14777982551105122.jpg)(/upfiles/14777982463774798.jpg)(/upfiles/14777982365170525.jpg)

I have reported this bug here: link text

Hi, I know this is old, however, I'd like to mention that the point cloud data is fine. With Asus/Primesense/Kinect1 the point cloud is published in the "camerargbopticalframe" which is rotated with the transformation you mention with respect to the "cameralink".

In my case, I set <framename>${name}/camerargboptical_frame</framename> and then I have a launch file with the default axis transformations (you can get them using a real RGBD sensor and tf echoing the frames) like this.

<launch>

<!-- LAUNCH INTERFACE -->
<arg name="camera_name" default="head"/>

<!-- LAUNCH IMPLEMENTATION -->
<node pkg="tf" type="static_transform_publisher" name="hand_camera_calib" args="0.000 -0.020 0.000 0.000 0.000 0.000 1.000 $(arg camera_name)_link $(arg camera_name)/camera_link  100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_depth_frame" args="0.000 -0.020 0.000 0.000 0.000 0.000 1.000  $(arg camera_name)/camera_link $(arg camera_name)/camera_depth_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_depth_optical_frame" args="0.000 -0.020 0.000 -0.500 0.500 -0.500 0.500 $(arg camera_name)/camera_link $(arg camera_name)/camera_depth_optical_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_rgb_frame" args="0.000 -0.045 0.000 0.000 0.000 0.000 1.000 $(arg camera_name)/camera_link $(arg camera_name)/camera_rgb_frame 100"/>

<node pkg="tf" type="static_transform_publisher" name="camera_rgb_optical_frame" args="0.000 -0.045 0.000 -0.500 0.500 -0.500 0.500  $(arg camera_name)/camera_link $(arg camera_name)/camera_rgb_optical_frame 100"/>

</launch>

And it works fine for me.

Solution by barcelosandreworks like a charm. You have to change the transform between the camera and the robot. You can do so by writing a TF publisher node, but in most cases the ROBOT_STATE_PUBLISHER node will publish your tf for you according to your URDF. So you can modify the URDF, create a dummy link(kinect_optical_link) wrt the camera link rotated by RPY(-pi/2, 0, -pi/2) wrt the camera link and set this as your camera plugins frameName. Note: Don't change the gazebo "reference" tag. The code can be found here for better explanation: https://paste.ubuntu.com/p/bFJPHVDNVQ/