ROS 2 Migration: Video - ros-simulation/gazebo_ros_pkgs GitHub Wiki
This pages describes the changes the video plugin in gazebo_plugins for ROS 2, including a migration guide.
- Use remapping argument to change default topic (
image_raw)
| ROS 1 | ROS 2 |
|---|---|
width |
width |
height |
height |
topicName |
<ros><remapping>image_raw:=custom_image_raw</remapping></ros> |
<model name="box_display">
<link name="base_link">
...
<visual name="visual">
...
<plugin name="display_video_controller" filename="libgazebo_ros_video.so">
<topicName>image</topicName>
<height>120</height>
<width>160</width>
</plugin>
</visual>
...
</link>
</model> <model name="box_display">
<link name="base_link">
...
<visual name="visual">
...
<plugin name="display_video_controller" filename="libgazebo_ros_video.so">
<ros>
<!-- Remap for image topic to be subscribed -->
<remapping>~/image_raw:=/camera1/image_raw</remapping>
</ros>
<height>120</height>
<width>160</width>
</plugin>
</visual>
...
</link>
</model>