# RealSense Camera not working on Gazebo

**URL:** <https://forum.hello-robot.com/t/realsense-camera-not-working-on-gazebo/893>\
**Category:** Ask\
**Created:** [January 19, 2024, 10:40am UTC](https://forum.hello-robot.com/t/realsense-camera-not-working-on-gazebo/893 "2024-01-19T10:40:44Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**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 19, 2024, 10:40am UTC](https://forum.hello-robot.com/t/realsense-camera-not-working-on-gazebo/893/1 "2024-01-19T10:40:44Z")

</div>

I’ve been trying to use the Stretch simulator on Gazebo. The documentation says that the camera works on Gazebo, but everytime I run the ( [RViz and Gazebo (hello-robot.com)](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/rviz_basics/), I get a warning on camera that no image is received. Also the wall does not appear on visualization on RViz.

 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/a9e2ed4588912dc3fd2e5eaf13a23fa1fc7238b5.png)

On the documentation, the wall is appearing on RViz.

I see this on the logs so I thought initially that the camera should work:  
`RealSensePlugin: The realsense_camera plugin is attach to model robot [urdf_spawner-4] process has finished cleanly`

---

<div class="post-metadata">

**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, 9:28pm UTC](https://forum.hello-robot.com/t/realsense-camera-not-working-on-gazebo/893/2 "2024-01-31T21:28:32Z")

</div>

Hi @iibuan, I recently sent you instruction for creating a ROS workspace to run the Gazebo simulation of Stretch

> [@Create Workspace for using Gazebo Simulator](https://forum.hello-robot.com/t/create-workspace-for-using-gazebo-simulator/897/2):
>
> Hi @iibuan, the stretch\_create\_catkin\_workspace.sh script is meant to be run on a Stretch robot. The script is looking for calibration data unique to the robot to set up other parts of the ROS workspace. Since you’re only interested in getting the Gazebo simulation running, I’ve put together the following instructions for you. It’ll create a ROS workspace that includes everything you need to run the Gazebo simulation of Stretch. These instructions are meant to be run on a Linux system with ROS N…

With that workspace, you should be able to see Realsense imagery. For example, when I try it, I see

 ![Screenshot from 2024-01-31 16-21-01](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/3bbb01b5210e29e3ede7c9ea55b5a70a3a348357.jpeg)

When adding the Camera display, make sure you’re adding the `/camera/color/image_raw` topic.

 ![Screenshot from 2024-01-31 16-26-56](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/0c6c24f8667d005400823a1a50e1988a21e067af.png)

And when adding the PointCloud2 display, make sure you’re adding the `/camera/depth/color/points` topic.

 ![Screenshot from 2024-01-31 16-27-14](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/661696bce70915ac24edde3313ade74ec04aaaaf.png)