Rviz2 showing gray image only

[tajish]

Hello guys,

As discussed from my last post, I am unable to see any image in rviz2. It just showing a gray image when I try to visualize it rviz2 even I place any object infront of the camera. Can somebody help me in that. I am posting my urdf file and the launch file here for information. It would very kind of you if someone can help.

URDF:

<xacro:macro name="robotiq_85_gripper" params="prefix parent *origin">
<xacro:property name="d455_zero_depth_to_glass" value="4.55e-3"/>
<xacro:property name="d455_cam_depth" value="0.026"/>
<xacro:property name="d455_cam_depth_py" value="0.0475"/>
<xacro:property name="d455_cam_width" value="0.124"/>
<xacro:property name="d455_cam_height" value="0.029"/>

    <joint name="${prefix}robotiq_85_base_joint" type="fixed">
        <parent link="${parent}"/>
        <child link="${prefix}robotiq_85_base_link"/>
        <xacro:insert_block name="origin"/>
    </joint>

    <link name="${prefix}robotiq_85_base_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_base_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_base_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.636951" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000380" ixy = "0.000000" ixz = "0.000000"
                     iyx = "0.000000" iyy = "0.001110" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.001171" />
        </inertial>
    </link>

    <link name="camera_link">
        <visual name="camera">
           <origin xyz="0 0 0" rpy="0 0 0"/>
           <geometry>
             <mesh filename="package://robotiq_description/meshes/visual/d455.stl" scale="0.0005 0.0005 0.0005"/>
            </geometry>
        </visual>
        <collision name="camera">
          <origin xyz="${d455_zero_depth_to_glass-d455_cam_depth/2} ${-d455_cam_depth_py} 0" rpy="0 0 0"/>
          <geometry>
            <box size="${d455_cam_depth} ${d455_cam_width} ${d455_cam_height}"/>
          </geometry>
        </collision>
        <inertial>
           <mass value="0.072" />
           <origin xyz="0 0 0" />
           <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
        </inertial>
    </link>

    <link name="camera_frame_link"></link>

    <joint name='robotiq_85_base_link_to_camera_link' type="fixed">
      <parent link="robotiq_85_base_link"/>
      <child  link="camera_link"/>
      <origin xyz="0.052 -0.0001 -0.020" rpy="${pi/2} ${pi} ${pi/2}"/>
    </joint>

    <joint name="camera_link_to_camera_frame_link" type="fixed">
      <parent link ="camera_link"/>
      <child link="camera_frame_link"/>
      <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
    </joint>

    <joint name="${prefix}robotiq_85_left_knuckle_joint" type="revolute">
        <parent link="${prefix}robotiq_85_base_link"/>
        <child link="${prefix}robotiq_85_left_knuckle_link"/>
        <axis xyz="0 0 1"/>
        <origin rpy="${pi} 0.0 0.0" xyz="0.05490451627 0.03060114443 0.0"/>
        <limit lower="0.0" upper="0.804" velocity="2.0" effort="1000"/>
    </joint>

    <joint name="${prefix}robotiq_85_right_knuckle_joint" type="continuous">
        <parent link="${prefix}robotiq_85_base_link"/>
        <child link="${prefix}robotiq_85_right_knuckle_link"/>
        <axis xyz="0 0 1"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.05490451627 -0.03060114443 0.0"/>
        <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
        <mimic joint="${prefix}robotiq_85_left_knuckle_joint"/>
    </joint>

    <link name="${prefix}robotiq_85_left_knuckle_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_knuckle_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_knuckle_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <origin
                    xyz="0.0178331863169983 3.68915177224286E-11 0.0021442477325704"
                    rpy="0 0 0" />
            <mass
                    value="0.00684838849434396" />
            <inertia
                    ixx="2.66832029033166E-07"
                    ixy="1.66142314639824E-15"
                    ixz="1.45945633322873E-07"
                    iyy="1.3889233257419E-06"
                    iyz="2.82951161241588E-15"
                    izz="1.26603336914415E-06" />
        </inertial>
    </link> 

    <link name="${prefix}robotiq_85_right_knuckle_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_knuckle_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_knuckle_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <origin
                xyz="0.0168606186773776 3.93808471820465E-10 0.0226699950793434"
                rpy="0 0 0" />
            <mass
                value="0.0110930853895903" />
            <inertia
                ixx="4.27134775939882E-06"
                ixy="-8.53568456728898E-15"
                ixz="1.77774229944246E-06"
                iyy="3.96548790524392E-06"
                iyz="-8.45108024914164E-15"
                izz="3.20325997634666E-06" />
        </inertial>
    </link>

    <joint name="${prefix}robotiq_85_left_finger_joint" type="continuous">
        <parent link="${prefix}robotiq_85_left_knuckle_link"/>
        <child link="${prefix}robotiq_85_left_finger_link"/>
        <origin xyz="-0.00408552455 -0.03148604435 0.0" rpy="0 0 0" />
    </joint>

    <joint name="${prefix}robotiq_85_right_finger_joint" type="continuous">
        <parent link="${prefix}robotiq_85_right_knuckle_link"/>
        <child link="${prefix}robotiq_85_right_finger_link"/>
        <origin xyz="-0.00408552455 -0.03148604435 0.0" rpy="0 0 0" />
    </joint>

    <link name="${prefix}robotiq_85_left_finger_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_finger_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_finger_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.027309" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000003" ixy = "-0.000002" ixz = "0.000000"
                     iyx = "-0.000002" iyy = "0.000021" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000020" />
        </inertial>
    </link> 

    <link name="${prefix}robotiq_85_right_finger_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_finger_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_finger_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.027309" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000003" ixy = "-0.000002" ixz = "0.000000"
                     iyx = "-0.000002" iyy = "0.000021" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000020" />
        </inertial>
    </link> 

    <joint name="${prefix}robotiq_85_left_inner_knuckle_joint" type="continuous">
        <parent link="${prefix}robotiq_85_base_link"/>
        <child link="${prefix}robotiq_85_left_inner_knuckle_link"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0.06142 0.0127 0" rpy="${pi} 0.0 0.0" />
        <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
        <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
    </joint>

    <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
        <parent link="${prefix}robotiq_85_base_link"/>
        <child link="${prefix}robotiq_85_right_inner_knuckle_link"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0.06142 -0.0127 0" rpy="0 0 0"/>
        <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
        <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
    </joint>

    <link name="${prefix}robotiq_85_left_inner_knuckle_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_inner_knuckle_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_inner_knuckle_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.029951" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000039" ixy = "0.000000" ixz = "0.000000"
                     iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000035" />
        </inertial>
    </link>
    <link name="${prefix}robotiq_85_right_inner_knuckle_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_inner_knuckle_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_inner_knuckle_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.029951" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000039" ixy = "0.000000" ixz = "0.000000"
                     iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000035" />
        </inertial>
    </link>

    <joint name="${prefix}robotiq_85_left_finger_tip_joint" type="continuous">
        <parent link="${prefix}robotiq_85_left_inner_knuckle_link"/>
        <child link="${prefix}robotiq_85_left_finger_tip_link"/>
        <axis xyz="0 0 1"/>
        <origin xyz="0.04303959807 -0.03759940821 0.0" rpy="0.0 0.0 0.0"/>
        <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
        <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
    </joint>

    <joint name="${prefix}robotiq_85_right_finger_tip_joint" type="continuous">
        <parent link="${prefix}robotiq_85_right_inner_knuckle_link"/>
        <child link="${prefix}robotiq_85_right_finger_tip_link"/>
        <axis xyz="0 0 1"/>
        <origin rpy="0.0 0.0 0.0" xyz="0.04303959807 -0.03759940821  0.0"/>
        <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
        <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="-1"/>
    </joint>


    <link name="${prefix}robotiq_85_left_finger_tip_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_finger_tip_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_finger_tip_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.019555" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000002" ixy = "0.000000" ixz = "0.000000"
                     iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000006" />
        </inertial>
    </link> 

    <link name="${prefix}robotiq_85_right_finger_tip_link">
        <visual>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/visual/robotiq_85_finger_tip_link.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://robotiq_description/meshes/collision/robotiq_85_finger_tip_link.stl"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.019555" />
            <origin xyz="0.0 0.0 0.0" />
            <inertia ixx = "0.000002" ixy = "0.000000" ixz = "0.000000"
                     iyx = "0.000000" iyy = "0.000005" iyz = "0.000000"
                     izx = "0.000000" izy = "0.000000" izz = "0.000006" />
        </inertial>
    </link>

    <!-- For better grasping-->

    <gazebo reference="${prefix}robotiq_85_left_finger_tip_link">
                <kp>1000000.0</kp>
                <kd>1.0</kd>
                <mu1>1.0</mu1>
                <mu2>1.0</mu2>
                <minDepth>0.001</minDepth>
    </gazebo>

    <gazebo reference="${prefix}robotiq_85_right_finger_tip_link">
                <kp>1000000.0</kp>
                <kd>1.0</kd>
                <mu1>1.0</mu1>
                <mu2>1.0</mu2>
                <minDepth>0.001</minDepth>
    </gazebo>

    <gazebo reference="camera_link">
            <sensor name="camera" type="camera">
                <always_on>true</always_on>
                <update_rate>30.0</update_rate>
                <visualize>true</visualize>
                <topic>/image_raw</topic>
                <gz_frame_id>/rgb_camera</gz_frame_id>
                <camera name="camera">
                    <horizontal_fov>1.21126</horizontal_fov>  <!-- Field of View -->
                    <image>
                        <width>1920</width>
                        <height>1080</height>
                        <format>R8G8B8</format>
                    </image>
                    <clip>
                       <near>0.1</near>
                       <far>10.0</far>
                    </clip>
                    <distortion>
                        <k1>0.0</k1>
                        <k2>0.0</k2>
                        <k3>0.0</k3>
                        <p1>0.0</p1>
                        <p2>0.0</p2>
                        <center>0.5 0.5</center>
                    </distortion>
                </camera>
                <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
                    <render_engine>ogre2</render_engine>
                    <frame_name>camera_frame_link</frame_name>
                </plugin>
            </sensor>
    </gazebo>

    
    <xacro:robotiq_85_gripper_transmission prefix="${prefix}" />

</xacro:macro>

Launch file:

import os
from pathlib import Path
from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
from launch.substitutions import Command, LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue

def generate_launch_description():
ur5_robot_description = get_package_share_directory("ur5_robot_description")

# Declare argument for robot model file
model_arg = DeclareLaunchArgument(
    name="model",
    default_value=os.path.join(
        ur5_robot_description, "urdf", "ur5_gripper_main.xacro"
    ),
    description="Absolute path to robot URDF file"
)

 

# Set Gazebo environment variables
gazebo_resource_path = SetEnvironmentVariable(
    name="GZ_SIM_RESOURCE_PATH",
    value=[
        str(Path(ur5_robot_description).parent.resolve())
    ]
)

ros_distro = os.environ["ROS_DISTRO"] 
is_classic = "True" if ros_distro == "humble" else "False" 

# Process robot description using xacro
robot_description = ParameterValue(
    Command([
        "xacro ", LaunchConfiguration("model"),
        " is_classic:=", is_classic
    ]),
    value_type=str
)

# Robot State Publisher node
robot_state_publisher_node = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    parameters=[{
        "robot_description": robot_description,
        "use_sim_time": True
    }]
)


gazebo_classic = IncludeLaunchDescription(
    PythonLaunchDescriptionSource([os.path.join(
                get_package_share_directory("ros_gz_sim"), "launch"), "/gz_sim.launch.py"]),
            launch_arguments=[
                ("gz_args", [" -v 4 -r empty.sdf"]
                )
            ]
         )


gz_spawn_entity = Node(
    package="ros_gz_sim",
    executable="create",
    output="screen",
    arguments=["-topic", "robot_description",
               "-name", "ur5_robot"],
)

gz_ros2_bridge = Node(
    package="ros_gz_bridge",
    executable="parameter_bridge",
    arguments=[
        '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
        "/image_raw@sensor_msgs/msg/Image[gz.msgs.Image",
        "/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
    ],
    output='screen',
)


tf2_ros_bridge = Node(
        package='tf2_ros',
        namespace = 'base_to_wrist_3',
        executable='static_transform_publisher',
        arguments= ["0", "0", "0", "0", "0", "0", "base_link", "ur5_robot/wrist_3_link/camera"]
    )

"""
tf2_ros2_bridge = Node(
        package='tf2_ros',
        namespace = 'wrist3_to_camera',
        executable='static_transform_publisher',
        arguments= ["0", "0", "0", "0", "0", "0", "ur5_robot/wrist_3_link/camera", "camera_frame_link"]
    )"""



# Return launch description
return LaunchDescription([
    model_arg,
    gazebo_resource_path,
    robot_state_publisher_node,
    gazebo_classic,
    gz_spawn_entity,
    gz_ros2_bridge,
    tf2_ros_bridge,
    #tf2_ros2_bridge,
])