June 2018
Beginner to intermediate
280 pages
6h 58m
English
Content preview from Learning Robotics using Python - Second Edition
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Depth camera plugin
The depth camera plugin simulates the characteristics of a depth camera, such as Kinect or Astra. The plugin name is libgazebo_ros_openni_kinect.so, and it helps us to simulate different kinds of depth sensors that have different characteristics. The plugin is shown in the following code:
<plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.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> ...
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