RGB Images for DepthCameras

[osrf-migration]

Original report (archived issue) by Nate Koenig (Bitbucket: Nathan Koenig).

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See: http://answers.gazebosim.org/question/1653/problem-depth-camera-plugin-does-not-show-any/

[osrf-migration]

Original comment by bram_ridder (Bitbucket: bram_ridder).

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The problem seems to be the class image_transport::ImageTransport. In simulator_gazebo/gazebo_plugin/gazebo_ros_camera_utils.cpp we advertise the image service with:

this->imagepub = this->itnode_->advertise( this->image_topicname,1, boost::bind( &GazeboRosCameraUtils::ImageConnect,this), boost::bind( &GazeboRosCameraUtils::ImageDisconnect,this), ros::VoidPtr(), &this->cameraqueue);

However, the ImageConnect and ImageDisconnect methods are never called. So the variable image_connectcount always remains 0. I'm currently ignoring this value so it always publishes the image information even if no one is listening. This is not very efficient but works for now.

image_common is a ROS package, so maybe this is a task they need to solve?

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "on hold"

Until after June, 2013.

[osrf-migration]

Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "on hold" to "open"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "open" to "new"

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• Edited issue description* set component to "sensors"