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2016-11-30 03:25:46 -0600 commented answer Gazebo camera: render only some objects

Thanks for your answer. I've written a GUIPlugin. So I guess this might be the problem. Is a visual plugin the only plugin type capable of changing the server's scene?

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2016-11-27 13:42:38 -0600 asked a question Gazebo camera: render only some objects

Hi guys,

I've read this post about modifying a visual's visibility flags to render it in the GUI but not in a camera sensor:

Make gazebo camera ignore certain objects

As suggested, my plugin sets all visuals' visibility flags to GZ_VISIBILITY_GUI, except for some whitelisted ones I want to render (visible = true;) Example line:

node->SetVisibilityFlags(visible ? 0xffffffff : GZ_VISIBILITY_GUI);

If I add a gazebo camera to my world, the in-simulation preview image does exactly the right thing: only the vehicle is visible. However, the published image contains all models (see screenshot). I want it to look like the camera image in the gazebo GUI where only the vehicle is rendered.

image description

What am I doing wrong? Are there some camera options, or do I have to set different flags?

Best regards!

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2016-07-12 11:35:55 -0600 commented answer Set near/far clip distance for the visualization window camera

Thanks a lot, this fixes my problem.

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2016-06-16 16:00:39 -0600 asked a question Set near/far clip distance for the visualization window camera

When viewing an outdoor gazebo world from some distance above, I get strong Z-fighting artifacts between two ground planes located on top of each other at a distance of about 0.5 meters. I suppose this could be fixed with a more suitable near and far clip distance for the visualization camera. Is there a way to set this distances in gazebo? Is it possible to access the camera parameters using a Gazebo-GUI-Plugin?