Cannot get depth image and point cloud

[MakinoharaShouko]

I just started trying to use uuv_simulator to implement some navigation on UUVs. I followed quick start to start the simulator with commands roslaunch uuv_gazebo_worlds empty_underwater_world.launch and roslaunch uuv_descriptions upload_rexrov.launch mode:=default x:=0 y:=0 z:=-20 namespace:=rexrov.

When I checked rostopics published, I only saw /camera_image topics. I am wondering how can I get the depth image and point cloud from the camera. I checked the camera_snippets.xacro file and found that these topics are included in the default_camera. Are there any changes to make to get the depth image and the point cloud?

[loguna123]

Just check if the camera xacro is relying on the following plugin : "libgazebo_ros_openni_kinect.so" instead of "libuuv_gazebo_ros_camera_plugin.so" or "libuuv_gazebo_ros_camera.so" to produce point clouds and depth image.

The way I did it is to create a separate xacro that relies on the following plugin mention.

FYI: The parameters of the plugin can be found on gazebo libraries. You may want to google search.