接上一篇
ROS教程 Gazebo仿真(2)-激光雷达
https://blog.csdn.net/weixin_43928944/article/details/115904044
配置摄像头
camera_sensors.xacro
<robot name="camera_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
<gazebo reference="camera">
<sensor type="camera" name="camera_node">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>1280</width>
<height>720</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="gazebo_camera" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot>
robot_car.xacro
<robot name="robot_car" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="inertia.xacro" />
<xacro:include filename="robot_base.xacro" />
<xacro:include filename="camera.xacro" />
<xacro:include filename="laser.xacro" />
<xacro:include filename="gazebo/move.xacro" />
<xacro:include filename="gazebo/laser_sensors.xacro" />
<xacro:include filename="gazebo/camera_sensors.xacro" />
</robot>
rviz中 添加Camera 修改Topic为/camera/image_raw即可