Pointcloud topic in headless mode

[Sticker25]

Hello, I am having problems publishing the pointcloud of the kinect camera when I run VREP in headless mode.
I have a robot equipped with a camera (kinect camera) and, in the camera script, I'm publishing its depth data to a ros topic. I can visualize it if the vrep is running with his GUI, but I need to run it in headless mode, and when I do this, that topic is no published. Can anyone help me please?

The main commands in the camera script below:

Code: Select all

depthCam=sim.getObjectHandle('kinetic_depth')
kinetic_link=sim.getObjectHandle('kinetic_link')
kinetic_depth=simExtROS_enablePublisher(toString('/depth/image_raw'), 1, simros_strmcmd_get_vision_sensor_image, depthCam, -1, '')

[fferri]

That ROS plugin is obsolete.

The ROS Interface plugin is now the recommended way to communicate with ROS.

Have a look also at the ROS tutorial.