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SyrianSpock / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model
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Gazebo doesnt openup #16

Closed priyablue closed 6 years ago

priyablue commented 6 years ago

Hi Syrian, I tried using the same package and cloned it for kinetic branch and when i try running the two commands in different terminal Gazebo doesnt openup. it shows Depth warning as there is some topics not publishing on the same.

Can you help me in clearing this error.

SyrianSpock commented 6 years ago

The readme is a bit misleading. The Gazebo UI is disabled in realsense.launch. If you want to get the Gazebo UI, replace these two lines by

<arg name="headless" value="false"/>
<arg name="gui" value="true"/>
priyablue commented 6 years ago

Thanks for the response.

why am i not able to get the pose values been set in URDF. I want to lift the camera bit higher, so i have modified the Z values in realsense-RS200.macro.xacro. But there is no change in the pose of camera.

Help me out.

Thanks

Danfoa commented 6 years ago

@priyablue I believe you have a confusion on URDF/Macro functions or in which file in this repository is what.

If you want to modify the position of the camera with respect to the world or your reference link you have to modify the xyz parameter on urdf file that uses the realsense-rs200.macro.xacro macro function (in this repository this file is called rs200-simulation.xacro under the urdf folder).

Any modification to the macro function referenced before will create changes in the internal structure of the camera, which is something that in the most cases should be avoided.

PS: Gazebo GUI is a CPU and GPU heavy consuming process, this might be the reason why in most cases you will want to work only with Rviz GUI.

SyrianSpock commented 6 years ago

@priyablue Feel free to reopen if you still have problems