# Revision history [back]

### Using projectors in Gazebo 1.9 + ROS Hydro?

I was trying to create an example projector project to demonstrate some problems I was having with projector poses, but couldn't get the texture to appear at all, there is just what appears a default error image with yellow diagonal bars on black.

example image on github, (don't have karma to upload and providing a link isn't working)

This is the xacro file responsible:

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="projector_test">

<visual>
<geometry>
</geometry>
</visual>
<inertial>
<mass value="1.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>

<joint name="joint_projector" type="fixed">
<origin xyz="0 0 2.0" rpy="0.0 0 0" />
</joint>

<projector name="projector_test1">
<pose>0 0 0 0 0 0</pose>
<!-- this isn't getting loaded properly -->
<texture>\$(find projector_test)/urdf/test_pattern.png</texture>
<!--texture>test_pattern.png</texture-->
<fov>0.6</fov>
<near_clip>0.1</near_clip>
<far_clip>10.0</far_clip>
</projector>
</gazebo>


</robot>

This is from projector test, there is also a launch file there and catkin package.xml and CMake files, roslaunch projector_test projector_test.launch launches it.

In another project I was able to make projectors work somewhat, I had the png in a meshes dir and I think that because another resource was loaded from the same directory (and which had a full path) the png was able to be found.