README.md

generic_gazebo_camera_plugin

This is a very generic deployment of the gazebo camera plugin with some additional control on the camera params.

First set the params in the parameters.yaml file:

color:
  fps: 30
  format: R8G8B8
  horizontal_fov: 1.3962634
  image_topic_name: rgb/image_raw
  camera_info_topic_name: rgb/camera_info
  image_width: 1280
  image_height: 720

To spawn the camera:

roslaunch generic_gazebo_camera_plugin spawn_camera.launch

Argument	Default	Values	Description
world_frame	world
camera_name	camera
camera_frame	$(arg camera_name)_base_link
x	0	double (meters)
y	0	double (meters)
z	0	double (meters)
roll	0	double (rad)
pitch	0	double (rad)
yaw	0	double (rad)
model_path
params_path