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RethinkRobotics / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot
http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
BSD 3-Clause "New" or "Revised" License
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Kinetic & Gazebo7: Video streaming fails #94

Open IanTheEngineer opened 7 years ago

IanTheEngineer commented 7 years ago

Baxter's camera streaming fails using Gazebo7:

[ WARN] [1486153355.581155367]: GazeboRosVideo plugin missing <robotNamespace>, defaults to "".
[ WARN] [1486153355.581207155]: GazeboRosVideo Plugin (ns = ) missing <topicName>, defaults to "image_raw".
[ WARN] [1486153355.581218927]: GazeboRosVideo Plugin (ns = ) missing <height>, defaults to 240.
[ WARN] [1486153355.581227121]: GazeboRosVideo Plugin (ns = ) missing <width>, defaults to 320
davetcoleman commented 7 years ago

Camera streaming is working for me using the following three test commands:

rosrun image_view image_view image:=/cameras/head_camera/image
rosrun image_view image_view image:=/cameras/right_hand_camera/image
rosrun image_view image_view image:=/cameras/left_hand_camera/image

And your related PR that was merged in.

Though I am also seeing those warnings in the console. You mentioned having more patches, do you have a fix for this already or should I create one?

davetcoleman commented 7 years ago

This bug has already been reported on Gazebo issue tracker

davetcoleman commented 7 years ago

Seems like an issue with the SDF parser for URDFs, I spent considerable time on this today but have not solved it

IanTheEngineer commented 7 years ago

Ah, I'm sorry Dave, I think I did get to the root of this last week, but this week I've had my hands full doing a bunch of infrastructure upgrades. I'll follow up on the two issues Camera streaming and Image displaying using gazebo_ros_pkgs. The camera issue seems to have to do with namespacing, and the Image display issue seems to be caused by Gazebo7 injecting extra SDF tags when parsing the Video plugin from URDF. I have patches for both, but they'll need OSRF feedback. I'll try to get them up later today.

davetcoleman commented 7 years ago

Oops my last two comments were in regards to the image display, and should have been reported in a different issue (https://github.com/RethinkRobotics/baxter_simulator/issues/95).

The problem with the camera streaming seems fixed, and the warnings only needs this PR merged: https://github.com/RethinkRobotics/baxter_common/pull/86