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2014-09-22 08:02:17 -0600 commented answer gazebo_ros_openni_kinect plugin with roll + pitch orientation generates wrong depth image

That's exactly what I did, but still no answer: https://github.com/ros-simulation/gazeborospkgs/issues/243

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2014-09-12 10:03:53 -0600 asked a question gazebo_ros_openni_kinect plugin with roll + pitch orientation generates wrong depth image

In the following video you see the comparison between two RGBD sensors placed in different positions. http://youtu.be/asvv0S5KQvA

Both use the gazebo_ros_openni_kinect plugin.

The one that is OK has only a roll rotation of 90 degrees:

<origin xyz=${base_rgbd_x} ${base_rgbd_y} ${base_rgbd_z}" rpy="${90 * deg_to_rad} ${0 * deg_to_rad} 0"/>

Meanwhile, the other has the same roll rotation and 30 degrees of pitch rotation:

<origin xyz=${base_rgbd_x} ${base_rgbd_y} ${base_rgbd_z}" rpy="${90 * deg_to_rad} ${30 * deg_to_rad} 0"/>

The point cloud is wrong. I've also found out that the depth images is wrong. The video compares them with rqtimageview. Apparently, instead of a pitch rotation, it seems that gazebo is using a yaw rotation. This is shown in the video.

I'm using gazebo 1.9.1; is this a known bug, probably fix in newer versions?

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2014-08-28 10:56:33 -0600 answered a question gazebo 1.9.1 : openni_kinect plugin does NOT refresh cabinet(-like) objects when move manually

Solved!

The problem was that the objects (cabinets, bookshelves, tables) where static in the world: <static>1</static>

Changing that to <static>0</static> has solved the problem.

2014-08-28 10:21:49 -0600 asked a question gazebo 1.9.1 : openni_kinect plugin does NOT refresh cabinet(-like) objects when move manually

I have a world where I move cabinet or similar objects (they have wood texture) and the gazeborosopenni_kinect driver doesn't refresh the data. It keeps seeing them even if they're no longer there in gazebo, when I point with the sensor to their old location.

This doesn't happen if I use the regular cube object.

You can see a video showing this issue here: http://youtu.be/wuyAfVP8Ohk

I'm using gazebo 1.9.1 and ros-hydro.

I haven't try, but I guess this also happens with the gazeborosdepth_camera plugin.