[Gazebo9] Added reflectance callback to publish reflectance image in ROS

[ahcorde]

Moved this PR #1044 to noetic-devel to avoid ABI changes in melodic

Refletance must be an image.

To include the reflectance:

<link>
...
  <visual name="visual">
    ...
      <plugin filename="libReflectancePlugin.so" name="reflectance_plugin">
        <reflectance_map>your_reflectance_map.png</reflectance_map>
      </plugin>
      ...
   </visual>
...
</link>

[iche033]

could you update the plugin params in the PR description? i.e. it now expects <reflectance_map> instead of <material>

[ahcorde]

@iche033, Do you mean this change 63bc8ad?

[iche033]

I didn't know I can just edit your comment in the PR. I just updated it (the first comment in the conversation)

[iche033]

Just checking this is also what you get from /depth_cam/reflectance when running gazebo_ros_depth_camera.world?

The output is a little darker than the actual terrain.png but I wonder if it's how the data is visualized.

[ahcorde]

yes, I think it's a visualization matter. I got the same image

[ahcorde]

friendly ping @chapulina

[chapulina]

LGTM, I just have a nitpick about documentation. Also note that the upstream PR must be merged first.

[apojomovsky]

Hi guys, and sorry for breaking in into a long merged PR, but I'm not being able to run this example. Particularly, what I'm doing is:

roscore &
rosrun gazebo_ros gazebo ./opt/ros/noetic/share/gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world

And on a separate terminal I'm running rqt_image_view, but there doesn't seem to be a <prefix>/reflectance topic being published whatsoever.

I'm running ROS noetic with gazebo_ros_pkgs (v 2.9.2-1focal.20211007.215718), all installed from debians via apt.

Any suggestions would be welcome!