barcelosandre's profile - activity

Hi,

I'm working with Gazebo and kinect (libgazebo_ros_openni_kinect). The camera info topic are not been published, I got the "WARNING: no messages received and simulated time is active. Is /clock being published?"

Not published topics:

<depthImageCameraInfoTopicName>
<cameraInfoTopicName>
compressedDepth

My kinect plugin have the following configuration:

<plugin name="camera" filename="libgazebo_ros_openni_kinect.so" >
  <cameraName>kinect_camera</cameraName>
  <frameName>camera_frame</frameName>
  <alwaysOn>true</alwaysOn>
  <visualize>true</visualize>
  <updateRate>20</updateRate>
  <pointCloudCutoff>0.001</pointCloudCutoff>
  <imageTopicName>/camera/rgb/image_color</imageTopicName>
  <cameraInfoTopicName>/camera/rgb/camera_info</cameraInfoTopicName>

  <depthImageTopicName>/camera/depth_registered/image</depthImageTopicName>
  <pointCloudTopicName>/camera/depth_registered/points</pointCloudTopicName>

  <depthImageCameraInfoTopicName>/camera/depth_registered/camera_info</depthImageCameraInfoTopicName>
  </plugin>

There is an other solution, using TF from ROS. you can publish a rotation transform to kinect_frame. An example to launch file is:

<node pkg="tf" type="static_transform_publisher" name="ime_slam_camera_tf" args="0 0 0 -1.58 0 -1.58 /pioneer3dx_gazebo/base_frame /camera/camera_frame 100"/>

There is an other solution, using TF from ROS. you can publish a rotation transform to kinect_frame.