Mastering ROS for Robotics Programming - Second Edition

Visualizing the 3D sensor data

After launching the simulation using the preceding command, we can check topics generated by the sensor plugin:

Figure 3: rgb-d image topics generated by Gazebo

Let's view the image data of a 3D vision sensor using the following tool called image_view:

• View the RGB raw image:

    $ rosrun image_view image_view image:=/rgbd_camera/rgb/image_raw  

• View the IR raw image:

    $ rosrun image_view image_view image:=/rgbd_camera/ir/image_raw  

• View the depth image:

    $ rosrun image_view image_view image:=/rgbd_camera/depth/image_raw  

Here is the screenshot with all these images:

Figure 4: Viewing images of the rgb-d