A warm and cozy place for all ocra-related(ish) gazebo pluginz - yeah with a z.
All plugins require yarp. For linux follow http://www.yarp.it/install_yarp_linux.html for install.
To use the camera you will need ffmpeg as well. On linux:
sudo apt-get install ffmpeg
You probably already have it.
To use the models, make sure to point your GAZEBO_MODEL_PATH to [path to ocra-gazebo-plugins]/models.
Also, make sure to set your GAZEBO_PLUGIN_PATH to point to wherever you choose to install the plugins. Then run the following
gazebo [path to ocra-gazebo-plugins]/worlds/test_ocra_task_widget.world
to test.
Yarpserver must be running before you launch the model so from a terminal type: yarpserver. Once running, in gazebo drop a yarp_camera model into the scene and orient it however you like.
Now to operate the camera, from terminal you type
yarp rpc /Gazebo/camera_sensor/rpc:i
This will open up an rpc command promt. (note: if you have multiple cameras then the camera_sensors will be numbered e.g. camera_sensor2. Use tab-completion when typing the rpc port name to get a list.)
In your rpc prompt type the following to record:
>>> record 1 [dir_to_save_png] [video_name]
Both [dir_to_save_png] and [video_name] are optional, but you must specify a folder if you specify the name.
To stop recording type:
>>> record 0
You will see where everything is when you stop recording. Also, give FFMpeg some time to compile the video before closing the terminal.
Enjoy!