Unable to Obtain Point Cloud Readings from gz_x500_depth

PX4 Autopilot
1

I would like to simulate point cloud readings in the environment on a quadcopter and tried to use the gz_x500_depth vehicle for software in the loop.

I’m able to see the topics /depth_camera and /depth_camera/points, but I’m unable to display the pointcloud in gazebo. Am I missing some steps?

Here are my screenshots for reference (I also added a box in the default world):

Screenshot from 2023-08-18 16-11-52
Screenshot from 2023-08-18 16-11-521157×788 145 KB

Screenshot from 2023-08-18 16-15-34
Screenshot from 2023-08-18 16-15-341910×1035 157 KB

The command “gz topic -e -t /depth_camera/points” shows a bunch of numbers:

Screenshot from 2023-08-18 16-14-53
Screenshot from 2023-08-18 16-14-531851×956 191 KB

I’m using Ubuntu 22.04 Jammy Jellyfish, Gazebo Garden v7.5.0 and the latest PX4-Autopilot code downloaded today. I’m not using ROS in this setup, just Gazebo.

2

Hi
I have the same problem. Have you solved it?

3

Hi.
I have the same problem. Have you solved it?

4

I realised that we need a Float_V message to specify the colour gradient of the points in the point cloud for it to show up