RosGzPointCloud Not Loading

[BobbieZain]

Environment

• OS Version: Ubuntu 22.04
• Binary build: ROS2 Humble 2.5.5-1jammy.20240404.154053| Gazebo Fortress 6.16.0

Description

• Expected behavior: The depth image can be seen in image display
• Actual behavior: The image display cannot be dropped down and the plugin is not correctly loaded

Steps to reproduce

1.Go to ros_gz_point_cloud/examples 2.Run ign gazebo -r examples/depth_camera.sdf

Output

Error message: [Err] [SystemLoader.cc:94] Failed to load system plugin [RosGzPointCloud] : couldn't find shared library. Screenshot:

[BobbieZain]

Hello, do I need to install the RosGzPointCloud library? If so, how?

[azeey]

The PointCloud plugin is unfortunately in a broken state right now. There's a COLCON_IGNORE file in the package.

A workaround for this is to use ros_gz_bridge to bridge point cloud messages from Gazebo to ROS. Here is an example.

[DanielBar98]

Are there any updates on this?

[caguero]

We're looking into an alternative, stay tuned for news soon.

[SuperJappie08]

I attempted to get this working on ROS Jazzy with Gazebo Harmonic, which I also mentioned in #360.

Here is the same comment, since it might also apply:

I attempted to port this for ROS Jazzy and Gazebo Harmonic. (Because it looked useful and doable, and I wanted more about Gazebo)

However, even after converting it to a rendering plugin, the performance improvements gazebosim/gz-sensors#447 and gazebosim/gz-sensors#413, it is no longer possible to get data via the renderer directly without subscribing to the (gazebo) topic. (Unless there is a way to retrieve and attach to the gz::sensor object directly, which I was unable to find)

(My branch lives here, although not functioning as expected SuperJappie08/ros_gz jazzy-point-cloud)