Open DrUlysses opened 6 years ago
Hello, the light sensor plugin is not working for me. I think I must to call some TopicName's different, but I don't know, which exactly.
<!-- lightSensor--> <xacro:macro name="light_sensor" params="parent name *origin"> <link name="${name}_link"> <inertial> <mass value="0.1"/> <origin xyz="0 0 0"/> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="package://robotino_description/meshes/sensors/RobotinoDistance.dae" scale="0.002 0.002 0.002"/> </geometry> </visual> </link> <gazebo reference="${name}_link"> <material>Gazebo/Yellow</material> <turnGravityOff>false</turnGravityOff> <sensor type="camera" name="camera"> <camera name='__default__'> <horizontal_fov>1.047</horizontal_fov> <image> <width>320</width> <height>240</height> </image> <clip> <near>0.1</near> <far>100</far> </clip> </camera> <plugin name="gazebo_light_sensor_plugin" filename="libgazebo_light_sensor_plugin.so"> <cameraName>camera</cameraName> <alwaysOn>true</alwaysOn> <updateRate>10</updateRate> <imageTopicName>rgb/image_raw</imageTopicName> <depthImageTopicName>depth/image_raw</depthImageTopicName> <pointCloudTopicName>depth/points</pointCloudTopicName> <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName> <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName> <frameName>camera_depth_optical_frame</frameName> <baseline>0.1</baseline> <distortion_k1>0.0</distortion_k1> <distortion_k2>0.0</distortion_k2> <distortion_k3>0.0</distortion_k3> <distortion_t1>0.0</distortion_t1> <distortion_t2>0.0</distortion_t2> <pointCloudCutoff>0.4</pointCloudCutoff> <robotNamespace>/</robotNamespace> </plugin> </sensor> </gazebo> <joint name="${name}_joint" type="fixed"> <insert_block name="origin" /> <parent link="${parent}"/> <child link="${name}_link"/> </joint> </xacro:macro>
So the first problem was with the gazebo version and I have solved it. Now I become the info from /image_raw , but /lightSensor topic is empty
Hello, the light sensor plugin is not working for me. I think I must to call some TopicName's different, but I don't know, which exactly.