After launching the simulation using the preceding command, we can check topics generated by the sensor plugin:
Let's view the image data of a 3D vision sensor using the following tool called image_view:
- View the RGB raw image:
$ rosrun image_view image_view image:=/rgbd_camera/rgb/image_raw
- View the IR raw image:
$ rosrun image_view image_view image:=/rgbd_camera/ir/image_raw
- View the depth image:
$ rosrun image_view image_view image:=/rgbd_camera/depth/image_raw
Here is the screenshot with all these images: