tutorials camera viz in gaz

As an alternative to using the rqt image viewer, we can configure the Gazebo camera sensor to visualize the camera view within Gazebo. For example, We can change the if we turn on the visualization through the macro defined in wamv_camera.xacro. for the front, left camera, the macro is called in wamv_gazebo.urdf.xacro by this snippet...

<xacro:wamv_camera name="front_left_camera" y="0.1" x="0.75" P="${radians(15)}"/>

We can turn on visualization by explicitly adding the visualize parameter like this...

<xacro:wamv_camera name="front_left_camera" y="0.1" x="0.75" P="${radians(15)}" visualize="True"/>

Now when we run one of the WAM-V demos, we see the visualization within Gazebo, e.g.,