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fsstudio-team / ZeroSimROSUnity

Robotic simulation in Unity with ROS integration.
https://roboticsimulationservices.com/
MIT License
168 stars 21 forks source link

RGBD camera mirrored #6

Closed EdvardGrodem closed 3 years ago

EdvardGrodem commented 3 years ago

Hi, I've been checking out the depth camera module. Sometimes it works fine, however other times the image is mirrored. This is how I recreated the issue: Open ZeroSim samples/ROSDepthImagePublish_test Run ROS and play scene Open Rviz And everything works fine.

Then I make a prefab of the RGBDepthCameraSensor GameObject. Open a new scene, add the RGBDepthCameraSensor prefab. Add a ZOROS Unity Manager with WorldFrameId = map Open ROS, play scene Open Rviz The depth image is mirrored.

Is this bug, is there something I don't get? Thanks Edvard

micahpearlman commented 3 years ago

@EdvardGrodem there does seem to be some weirdness that we are looking into. No ETA quite yet.

micahpearlman commented 3 years ago

Okay, the behavior of the RGBD sensor and publisher should be more consistent. You will need to grab the latest version.

NOTE: Updating the ZeroSim package is not automagic in Unity for whatever reason. You will want to: Go into the Unity Package Manager, select "+" button, and then select Add Package From Git URL... and enter git@github.com:fsstudio-team/ZeroSimROSUnity.git . Finally re-import the ZeroSim samples. The ZeroSim Unity package version should be 0.1.10

EdvardGrodem commented 3 years ago

That fixed the issue! Thank you so much for the fast response time!

A small note: I had to use https://github.com/fsstudio-team/ZeroSimROSUnity.git in the Package Manager to be able to import the package