camera plugin not working . Topic created in sdf file does not publish
Hi,
Here I place a xacro file code used in ROS2 humble to give among other things a camera sensor, hope it helps:
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="camera_rgb" params="robot_name parent_name origin_xyz camera_ROLL camera_PITCH camera_YAW">
<link name="${robot_name}_rgb_camera_link_frame">
<!-- <visual>
<geometry>
<cylinder length="0.01" radius="0.005"/>
</geometry>
</visual> -->
</link>
<joint name="${robot_name}_rgb_camera_link_frame_joint" type="fixed">
<origin rpy="${camera_ROLL} ${camera_PITCH} ${camera_YAW}" xyz="${origin_xyz}"/>
<parent link="${parent_name}" />
<child link="${robot_name}_rgb_camera_link_frame" />
<axis xyz="0 0 0"/>
</joint>
<gazebo reference="${robot_name}_rgb_camera_link_frame">
<sensor name="${robot_name}_high_resolution_camera" type="camera">
<camera>
<horizontal_fov>1.3962634</horizontal_fov> <!-- Field of view -->
<image>
<width>400</width>
<height>400</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.01</near>
<far>6.0</far>
</clip>
</camera>
<plugin name="high_resolution_camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>${robot_name}</namespace>
</ros>
<cameraName>${robot_name}_rgb_camera_high_resolution</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${robot_name}_rgb_camera_link_frame</frameName>
<hackBaseline>0.07</hackBaseline>
</plugin>
</sensor>
</gazebo>
<gazebo reference="${robot_name}_rgb_camera_link_frame">
<sensor name="${robot_name}_low_resolution_camera" type="camera">
<camera>
<horizontal_fov>1.3962634</horizontal_fov> <!-- Field of view -->
<image>
<width>4</width>
<height>4</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.01</near>
<far>6.0</far>
</clip>
</camera>
<plugin name="low_resolution_camera_controller" filename="libgazebo_ros_camera.so">
<ros>
<namespace>${robot_name}</namespace>
</ros>
<cameraName>${robot_name}_rgb_camera_low_resolution</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${robot_name}_rgb_camera_link_frame</frameName>
<hackBaseline>0.07</hackBaseline>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
<xacro:macro name="laser_scan" params="robot_name parent_name origin_xyz sensor_YAW">
<link name="${robot_name}_laser_scan_model_link">
<visual name="${robot_name}_visual_laser_scan_link">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://deepmind_bot_description/meshes/laser.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision name="${robot_name}_collision_laser_scan_link">
<origin rpy="0 0 0" xyz="0 0 0.0204"/>
<geometry>
<cylinder length="0.0758" radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 0.0204"/>
<inertia ixx="6.066578520833334e-06" ixy="0" ixz="0" iyy="6.066578520833334e-06" iyz="0" izz="9.365128684166666e-06"/>
</inertial>
</link>
<joint name="${robot_name}_laser_scan_model_link_joint" type="fixed">
<origin xyz="${origin_xyz}" rpy="0 0 ${sensor_YAW}" />
<parent link="${parent_name}" />
<child link="${robot_name}_laser_scan_model_link" />
</joint>
<link name="${robot_name}_laser_scan_frame">
</link>
<joint name="${robot_name}_laser_scan_frame_joint" type="fixed">
<origin xyz="0 0 0.03" rpy="0 0 ${sensor_YAW}" />
<parent link="${robot_name}_laser_scan_model_link" />
<child link="${robot_name}_laser_scan_frame" />
</joint>
<gazebo reference="${robot_name}_laser_scan_frame">
<sensor name="sensor_ray" type="ray">
<pose>0 0 0 0 0 0</pose>
<ray>
<scan>
<horizontal>
<samples>200</samples>
<resolution>1.0</resolution>
<min_angle>-2.2</min_angle>
<max_angle>2.2</max_angle>
</horizontal>
</scan>
<range>
<min>0.1</min>
<max>30.0</max>
</range>
</ray>
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>100.0</update_rate>
<plugin name="laser" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>${robot_name}</namespace>
<remapping>~/out:=laser_scan</remapping>
</ros>
<frame_name>${robot_name}_laser_scan_frame</frame_name>
<output_type>sensor_msgs/LaserScan</output_type>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
<xacro:macro name="point_cloud_sensor" params="robot_name parent_name sensor_name origin_xyz sensor_YAW">
<link name='${robot_name}_pointcloud_link'>
<visual>
<geometry>
<cylinder length="0.01" radius="0.005"/>
</geometry>
</visual>
</link>
<joint name="${robot_name}_pointcloud_link_joint" type="fixed">
<origin rpy="0 0 ${sensor_YAW}" xyz="${origin_xyz}"/>
<parent link="${parent_name}"/>
<child link="${robot_name}_pointcloud_link"/>
</joint>
<gazebo reference="${robot_name}_pointcloud_link">
<sensor type="ray" name="${robot_name}_pointcloud_sensor">
<ray>
<scan>
<horizontal>
<samples>50</samples>
<resolution>1.0</resolution>
<min_angle>-1.0</min_angle>
<max_angle>1.0</max_angle>
</horizontal>
<vertical>
<samples>50</samples>
<resolution>1.0</resolution>
<min_angle>-1.0</min_angle>
<max_angle>1.0</max_angle>
</vertical>
</scan>
<range>
<min>0.10</min>
<max>5.0</max>
<resolution>0.01</resolution>
</range>
<!-- Using gazebo's noise instead of plugin's -->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<!-- Using gazebo's update rate instead of plugin's -->
<update_rate>30</update_rate>
<plugin name="gazebo_ros_block_laser_controller" filename="libgazebo_ros_ray_sensor.so">
<!-- Change namespace and output topic so published topic is /rrbot/laser/pointcloud -->
<ros>
<namespace>${robot_name}</namespace>
<argument>--ros-args --remap ~/out:=pointcloud</argument>
</ros>
<!-- Set output to sensor_msgs/PointCloud to get same output type as gazebo_ros_block_laser -->
<output_type>sensor_msgs/PointCloud</output_type>
<frame_name>${robot_name}_pointcloud_link</frame_name>
<!-- min_intensity instead of hokuyoMinIntensity -->
<min_intensity>100.0</min_intensity>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
Next time, please give some more information, details and how to reproduce your issue, otherwise its more challenging to help you 
1 Like
This topic was automatically closed 5 days after the last reply. New replies are no longer allowed.