I'm trying to attach a simple camera to the tool tip of my robot (Kuka lwr). The problem is that the camera view is always changing as shown in the video:
It seems like the camera is colliding with something or there is a sort of conflict. At the beginning I though it was a material problem (maybe the camera was set inside the box) but setting it transparent didn't solve the problem. I couldn't find any similar issue on the web so I hope someone can help me! For the camera, I followed the tutorial (http://gazebosim.org/tutorials?tut=ro...) adding the camera description in my .urdf.xacro file and the camera plugin in the .gazebo.xacro file.
Here is the camera description in the xacro file:
<joint name="${name}_joint_camera" type="fixed">
<parent link="tool_ee"/>
<child link="${name}_link_camera"/>
<origin xyz="0 0 0.06" rpy="0 0 0"/>
<axis xyz="1 0 0" />
</joint>
<link name="${name}_link_camera">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
<parent link="${name}_link_camera"/>
<child link="camera_link_optical"/>
</joint>
<link name="camera_link_optical">
</link>
Here the camera plugin of in the gazebo file:
<gazebo reference="lwr_link_camera">
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Transparent</material>
</gazebo>
<!-- Camera -->
<gazebo reference="lwr_link_camera">
<sensor type="camera" name="camera_sensor1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link_optical</frameName>
<hackBaseline>0.0</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0.0</focalLength>
</plugin>
</sensor>
</gazebo>
Any help is appreciated! Thanks!
