I actually just now got it to work by using xacro:wge100_camera_v0, which I noticed does approximately the same things as what is laid out in the tutorial.

Another question, though: is there a way to make rviz update its list of frames, etc, and update the robot model, without closing and reopening rviz? At one point the reason I thought it wasn't working is because rviz just wasn't updating the robot description.

Thanks,
Adam



Adam Leeper
Stanford University
aleeper@stanford.edu
719.358.3804


On Fri, Jul 9, 2010 at 6:42 PM, Kevin Watts <watts@willowgarage.com> wrote:

Adam-
    Copying from the wiki may not work perfectly. The XML formatting doesn't always come through.
     Can you post your URDF, launch file and output to the list?

Kevin

On Jul 9, 2010 6:27 PM, "Adam Leeper" <aleeper@stanford.edu> wrote:
> Hi all-
>
> I'm following the tutorial here on adding a simulated camera to the pr2:
> http://www.ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2
>
> <http://www.ros.org/wiki/urdf/Tutorials/AddingSensorsToPR2>I edited my urdf
> but when I roslaunch pr2_gazebo pr2_empty_world.launch, the new frames and
> topics don't seem to exist.
>
> I verified that it is loading the correct urdf by changing some of the topic
> names in existing sensors in the urdf and seeing that the topic names are
> different when I roslaunch.
>
> Should I be getting any errors if it can't parse or otherwise make sense of
> the new simulated camera? I copied the extra stuff from the tutorial
> directly...
>
> Thanks,
> Adam
>
>
> Adam Leeper
> Stanford University
> aleeper@stanford.edu
> 719.358.3804


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