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Warped camera data (perspective and

Hello! I have a fresh Indigo install on 14.04 with Gazebo2 installed from debs: wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt-get -y install ros-indigo-gazebo-ros-pkgs

But I'm noticing some odd data from the camera sensor on a hector_quadrotor_demo (see poorimage3.jpg, poorimage2.jpg and poorimage.jpg). I've never run 2.X before and did not notice this in Gazebo 1.9, so I can't say if it's something that is directly related to 2.X or not.

Any pointers in troubleshooting this one?

Warped camera data (perspective andfrom a new Gazebo/ROS install

Hello! I have a fresh Indigo install on 14.04 with Gazebo2 installed from debs: wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt-get -y install ros-indigo-gazebo-ros-pkgs

But I'm noticing some odd data from the camera sensor on a hector_quadrotor_demo (see poorimage3.jpg, poorimage2.jpg and poorimage.jpg). I've never run 2.X before and did not notice this in Gazebo 1.9, so I can't say if it's something that is directly related to 2.X or not.

Any pointers in troubleshooting this one?

Warped camera data from a new Gazebo/ROS install

Hello! I have a fresh Indigo install on 14.04 with Gazebo2 installed from debs: wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt-get -y install ros-indigo-gazebo-ros-pkgs

But I'm noticing some odd data from the camera sensor on a hector_quadrotor_demo (see poorimage3.jpgimage3.jpg, poorimage2.jpg and poorimage.jpg). image2.jpg.

I've never run 2.X before and did not notice this in Gazebo 1.9, so I can't say if it's something that is directly related to 2.X or not.

I'm testing the waters running newer versions of Gazebo on remote machines, so I haven't yet sorted out how to tap into the GUI troubleshooting tools.

camera.world and image description

Any pointers in troubleshooting this one?

Warped camera data from a new Gazebo/ROS install

Hello! I have a fresh Indigo install on 14.04 with Gazebo2 installed from debs: debs:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    - 
sudo apt-get -y install ros-indigo-gazebo-ros-pkgs

ros-indigo-gazebo-ros-pkgs

But I'm noticing some odd data from the camera sensor on a hector_quadrotor_demo image3.jpg, image2.jpg.

hector_quadrotor_demo. I've never run 2.X before and did not notice this in Gazebo 1.9, so I can't say if it's something that is directly related to 2.X or not.

I'm testing Using (as per suggestion)

DISPLAY=:1 gazebo /usr/share/gazebo-2.2/worlds/camera.world

and then

gztopic view /gazebo/default/camera/link/camera/image

I see the waters running newer versions of Gazebo on remote machines, so I haven't yet sorted out how to tap into the GUI troubleshooting tools.following

camera.world and image descriptionimage description

When the same tool is used to view the image topic for the hector world though, a warped image is seen.

image description

Any pointers in troubleshooting this one?

Warped camera data from a new Gazebo/ROS install

Hello! I have a fresh Indigo install on 14.04 with Gazebo2 installed from debs:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - 
sudo apt-get -y install ros-indigo-gazebo-ros-pkgs

But I'm noticing some odd data from the camera sensor on a hector_quadrotor_demo. I've never run 2.X before and did not notice this in Gazebo 1.9, so I can't say if it's something that is directly related to 2.X or not.

Using (as per suggestion)

DISPLAY=:1 gazebo /usr/share/gazebo-2.2/worlds/camera.world

and then

gztopic view /gazebo/default/camera/link/camera/image

I see the following

image description

When the same tool is used to view the image topic for the hector world though, a warped image is seen.

image description

Any pointers in troubleshooting this one?

The world file for the hector world is below:

<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <scene>
      <ambient>0.5 0.5 0.5 1</ambient>
      <background>0.5 0.5 0.5 1</background>
      <shadows>false</shadows>
    </scene>
    <physics type="ode">
      <gravity>0 0 -9.8</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <iters>10</iters>
          <sor>1.3</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.001</contact_surface_layer>
        </constraints>
      </ode>
      <real_time_update_rate>1000</real_time_update_rate>
      <max_step_size>0.001</max_step_size>
    </physics>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://willowgarage</uri>
    </include>
    <light type="directional" name="my_light">
      <pose>0 0 30 0 0 0</pose>
      <diffuse>.5 .5 .5 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>200</range>
      </attenuation>
      <direction>0 0 -1</direction>
      <cast_shadows>false</cast_shadows>
    </light>
  </world>
</sdf>