Depth Camera

[kursatkomurcu]

Hello Community,

I want to add depth camera to this drone. I changed the urdf file like below. However, I couldn't get any depth camera data. How can I solve the problem?

<gazebo reference="front_cam_link">
  <sensor name="front_camera" type="camera">
    <always_on>1</always_on>
    <visualize>1</visualize>
    <update_rate>60</update_rate>
    <camera>
      <horizontal_fov>2.09</horizontal_fov>
      <image>
        <width>640</width>
        <height>360</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.1</near>
        <far>100</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.005</stddev>
      </noise>
    </camera>
    <plugin filename="libgazebo_ros_camera.so" name="camera_front">
      <ros>
        <namespace>/simple_drone</namespace>
      </ros>
      <frame_name>/simple_drone/front_cam_link</frame_name>
      <camera_name>front</camera_name>
      <hack_baseline>0.07</hack_baseline>
    </plugin>
  </sensor>
  <!-- Depth Cam -->
  <sensor name="front_depth_camera" type="depth">
    <always_on>1</always_on>
    <visualize>1</visualize>
    <update_rate>30</update_rate>
    <camera>
      <horizontal_fov>2.09</horizontal_fov>
      <image>
        <width>640</width>
        <height>360</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.1</near>
        <far>10</far>
      </clip>
    </camera>
    <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_front_depth">
      <ros>
        <namespace>/simple_drone</namespace>
      </ros>
      <frame_name>/simple_drone/front_cam_link</frame_name>
      <camera_name>front_depth</camera_name>
    </plugin>
  </sensor>
</gazebo>