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Gazebo Video Monitor Plugin
Description: This tutorial presents the gazebo video monitor pluginTutorial Level: BEGINNER
Next Tutorial: Gazebo Multi Video Monitor Plugin
Contents
The gazebo video monitor plugin records videos in the format shown above.
It assumes two cameras: one which can be used to get a view of the world and another one which can be attached to a robot to get a view from its perspective. Additionally, time metadata are logged in the video to make tracking of world and robot events easier.
The plugin exposes two ROS services to control the recordings:
Use the start_recording service to initiate a recording. Setting disable_window to true removes the second view from the recording. world_as_main_view can be used to set the world or robot camera as the main view of the recording.
rosservice call /gazebo/start_recording "{disable_window: false, world_as_main_view: false}"Use the stop_recording service to save or discard a recording. The filename must be given without the extension (.mp4). The recording is saved in the directory defined in the plugin configuration.
rosservice call /gazebo/stop_recording "{discard: false, filename: navigation-test}"See an example configuration of the plugin in gazebo_video_monitor_plugin.world.
