Simple gazebo simulation with a python script that subscribes to a gazebo simulated RGBD camera.
Processing being done was for EECS 531 (Computer Vision) at Case Western Reserve University with @frank_qcd_qk Spring 2020.
roslaunch gazebo_ros empty_world.launch
Navigate to the "insert" tab on gazebo and add the Gazebo_Models folder to the path -> You can now drag and drop the Kinect object into the environment and it will immediately start publishing data to the following topics (can change them in model.sdf file in Kinect model folder):
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera_ir/parameter_descriptions
/camera_ir/parameter_updates
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