ROS Programming: Building Powerful Robots

Visualizing the 3D sensor data

We can just list out the topics generated while performing simulation, and here are the topics generated by the sensor plugin:

    $ rostopic list  

Figure 3 : ROS topics generated by 3D sensor in 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 ...