Pepper Depth sensor in Gazebo

[sammyp...@gmail.com]

Hello,

I got the Pepper Gazebo simulation working (ROS Indigo, Gazebo 2.2.3), well at least I got to see the cameras and move the arms. I wanted to play with the depth data (and I've seen other posts of people playing with a real robot and RGBD data) but I don't see any topic, nor in the model of the robot a reference to a depth sensor plugin.

Does anyone have something working?

(I'll be working on it meanwhile).

[sammyp...@gmail.com]

Given I don't currently have access to a Pepper, if anyone has/can create a rosbag with the depth related topics and upload it somewhere I'll make sure the simulation reflects the same kind of data.

[Natalia Lyubova]

Right, depth camera controller is missing here https://github.com/ros-naoqi/pepper_robot/blob/master/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro

And here is the sensor spec: http://doc.aldebaran.com/2-5/family/pepper_technical/video_3D_pep.html

Regards,
Natalia

[sammyp...@gmail.com]

Submitted a PR: https://github.com/ros-naoqi/pepper_robot/pull/36

With a depth camera added to simulation. Details in the PR.