Ros Camera Plugin XML Reference and Example

Ros Camera Plugin Controller. More...

Classes
class	gazebo::GazeboRosOpenniKinect
	GazeboRosOpenniKinect Controller. More...

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Detailed Description

Ros Camera Plugin Controller.

This is a controller that collects data from a Camera Sensor and populates a libgazebo camera interface as well as publish a ROS sensor_msgs::Image (under the field <imageTopicName>). This controller should only be used as a child of a camera sensor (see example below.

Example Usage:

  <model:physical name="camera_model">
    <body:empty name="camera_body_name">
      <sensor:camera name="camera_sensor">
        <controller:gazebo_ros_camera name="controller-name" plugin="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>15.0</updateRate>
            <imageTopicName>camera_name/image_raw</imageTopicName>
            <cameraInfoTopicName>camera_name/camera_info</cameraInfoTopicName>
            <frameName>camera_body_name</frameName>
        </controller:gazebo_ros_camera>
      </sensor:camera>
    </body:empty>
  </model:phyiscal>