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cloisim_ros_camera package from cloisim_ros repo

cloisim_ros_actor cloisim_ros_base cloisim_ros_bridge_zmq cloisim_ros_bringup cloisim_ros_bringup_param cloisim_ros_camera cloisim_ros_contact cloisim_ros_elevator_system cloisim_ros_gps cloisim_ros_ground_truth cloisim_ros_imu cloisim_ros_joint_control cloisim_ros_lidar cloisim_ros_micom cloisim_ros_msgs cloisim_ros_multicamera cloisim_ros_protobuf_msgs cloisim_ros_range cloisim_ros_realsense cloisim_ros_websocket_service cloisim_ros_world

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Package Summary

Version	4.9.2
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 simulation device packages to connect unity based multi-robot simulator CLOisim.
Checkout URI	https://github.com/lge-ros2/cloisim_ros.git
VCS Type	git
VCS Version	main
Last Updated	2026-02-04
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Virtual camera/depth camera/segmentation camera for CLOiSim

Maintainers

Hyunseok Yang

Authors

Sungkyu Kang
Jaemin Lee

cloisim_ros_camera/README.md

CLOiSim-ROS Camera

options

support ros remapping, –ros-args -r /test:=test

how to bringup

you need to edit SDF model file and add plugin in <sensor> element. please refer to here as en exmaple.

This filename in <plugin> element enables to connect cloisim_ros_camera.

<sensor name='camera' type='camera'>
  ....
  ...
  ..
  .
  <plugin name='CameraPlugin' filename='libCameraPlugin.so'>
    <ros2>
      <topic_name>color</topic_name>
      <frame_id>camera_link</frame_id>
    </ros2>
  </plugin>
</sensor>

how to run

Camera

ros2 run cloisim_ros_camera camera

Single mode for camera

ros2 run cloisim_ros_camera camera --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=camera
ros2 run cloisim_ros_camera camera --ros-args -p target_model:=cloi1 -p target_parts_name:=camera

Depth Camera

ros2 run cloisim_ros_camera depth_camera

Single mode for depth camera

ros2 run cloisim_ros_camera depth_camera --ros-args -p single_mode:=True -p target_model:=cloi1 -p target_parts_name:=depthcamera

Namespaced mode for multi-robot with depth camera

ros2 run cloisim_ros_camera depth_camera --ros-args -p target_model:=cloi1 -p target_parts_name:=depthcamera

disable publishing TF(+TF static) for depth camera

ros2 run cloisim_ros_camera depth_camera --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=depthcamera

Segmentation Camera

ros2 run cloisim_ros_camera segmentation_camera

Single mode for segmentation camera

ros2 run cloisim_ros_camera segmentation_camera --ros-args -p single_mode:=True -p target_model:=cloi -p target_parts_name:=segmentationcamera

Namespaced mode for multi-robot with segmentation camera

ros2 run cloisim_ros_camera segmentation_camera --ros-args -p target_model:=cloi -p target_parts_name:=segmentationcamera

disable publishing TF(+TF static) for segmentation camera

ros2 run cloisim_ros_camera segmentation_camera --ros-args -p enable_tf:=False -p target_model:=cloi1 -p target_parts_name:=segmentationcamera

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	cloisim_ros_bringup_param
	cloisim_ros_base
	sensor_msgs
	camera_info_manager
	image_transport
	image_transport_plugins
	vision_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
cloisim_ros_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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