Make gazebo camera ignore certain objects

I have a robot model with a camera in gazebo. The camera is observing the world but some objects I would like the camera to ignore so they are not captured in the image output.

Is it possible to have a gazebo camera ignore certain objects e.g. perceive them as transparent or black e.g. by giving the objects a specific prefix in their name or something else?

Asked by tropic on 2015-01-23 02:57:54 UTC

Comments

This can be done but it will affect the whole rendering of the object, not only in the camera. If you then want to see the collision you can do so from the client

Asked by AndreiHaidu on 2015-01-23 10:23:02 UTC

Answers

You'll have to write a plugin that modifies a visual's visibility flags. Here is the relevant API call. You should use GZ_VISIBILITY_GUI, which will cause a visual to draw in the GUI but not in a camera sensor.

Asked by nkoenig on 2015-01-26 12:45:52 UTC