# Deep Perception on Gazebo Simulator

**URL:** https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901
**Category:** Ask
**Created:** [January 31, 2024, 2:38pm UTC](https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901 "2024-01-31T14:38:53Z")
**Posts on this page:** 4
**Page:** 1

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### Author: ![iibuan](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/iibuan/32/644_2.png) [@iibuan](https://forum.hello-robot.com/u/iibuan)
#### Post date: [January 31, 2024, 2:38pm UTC](https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901/1 "2024-01-31T14:38:53Z")

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Is it possible to test the stretch deep perception using the simulator only and without access to the physical robot?

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### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [January 31, 2024, 8:10pm UTC](https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901/2 "2024-01-31T20:10:17Z")

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Hi @iibuan, it should be possible, but to my knowledge, it’s not something that’s been tested before. The simulated Stretch’s head camera imagery is published at the `/camera/color/image_raw` topic, same topic as the real Stretch’s head camera. So you would launch the deep perception launch file with the simulation launch file.

I would expect the models trained on real imagery might not perform as well when inferencing on simulated imagery.

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### Author: ![Jerrico\_Jr\_Dela\_Cruz](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jerrico_jr_dela_cruz/32/640_2.png) [@Jerrico\_Jr\_Dela\_Cruz](https://forum.hello-robot.com/u/Jerrico_Jr_Dela_Cruz)
#### Post date: [February 2, 2024, 9:33am UTC](https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901/3 "2024-02-02T09:33:40Z")

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Hi @bshah, upon executing the command “roslaunch stretch\_deep\_perception stretch\_detect\_objects.launch,” it gives the warning message “No RealSense devices were found!” even though I received the message “The realsense\_camera plugin is attached to the model robot” after executing “roslaunch stretch\_gazebo gazebo.launch.” I am also attempting to use Stretch Deep Perception in the Gazebo Simulator.

 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/c4e249884ae9ebc3eca919ff0986ca1d91c0ec5f.png)

Is there anything else I need to do to use stretch\_deep\_perception with the Stretch Robot inside the Gazebo Simulator?

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### Author: ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)
#### Post date: [February 2, 2024, 9:51pm UTC](https://forum.hello-robot.com/t/deep-perception-on-gazebo-simulator/901/4 "2024-02-02T21:51:04Z")

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Ah thanks for discovering that @Jerrico_Jr_Dela_Cruz. Looks like it’s because `stretch_detect_objects.launch` tries to launch the real Realsense camera driver in lines 5-11.

> <https://github.com/hello-robot/stretch_ros/blob/noetic/stretch_deep_perception/launch/stretch_detect_objects.launch#L5-L11>

Commenting those lines out should resolve the problem.