uuv_simulator
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underwater_camera_plugin_macro is not working
<xacro:macro name="underwater_camera" params="namespace parent_link suffix *origin">
<xacro:underwater_camera_plugin_macro
namespace="${namespace}"
suffix="${suffix}"
parent_link="${parent_link}"
topic="camera"
mass="0.1"
update_rate="30"
hfov="1.5125"
width="768"
height="492"
stddev="0.02">
<inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
<xacro:insert_block name="origin" />
</xacro:underwater_camera_plugin_macro>
</xacro:macro>
<xacro:underwater_camera namespace="${namespace}" parent_link="base_link" suffix="">
<origin xyz="0 0.05 0" rpy="0 0 0"/>
</xacro:underwater_camera>
This block of code only spawns the underwater_camera_plugin_macro link according to the code below https://github.com/uuvsimulator/uuv_simulator/blob/bfb40cb153684a0703173117b6bbf4258e8e71c5/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/camera_snippets.xacro#L163-L205 but fails to load the plugin part https://github.com/uuvsimulator/uuv_simulator/blob/bfb40cb153684a0703173117b6bbf4258e8e71c5/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/camera_snippets.xacro#L207-L248 due to which there is no topics related to depth is visible when launched with a robot model.