# Include an RGBD cam to my robot with humble and gz sim harmonic

**URL:** <https://discourse.openrobotics.org/t/include-an-rgbd-cam-to-my-robot-with-humble-and-gz-sim-harmonic/48436>\
**Category:** Gazebo Help\
**Tags:** gazebo\
**Created:** [December 12, 2024, 8:32am UTC](https://discourse.openrobotics.org/t/include-an-rgbd-cam-to-my-robot-with-humble-and-gz-sim-harmonic/48436 "2024-12-12T08:32:55Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![srhgrs](https://avatars.discourse-cdn.com/v4/letter/s/d07c76/32.png) [@srhgrs](https://discourse.openrobotics.org/u/srhgrs)\
**Post date:** [December 12, 2024, 8:32am UTC](https://discourse.openrobotics.org/t/include-an-rgbd-cam-to-my-robot-with-humble-and-gz-sim-harmonic/48436/1 "2024-12-12T08:32:55Z")

</div>

Hello everyone 🙂

I am trying to add an RGBD camera to my robot model. My setup is : ROS2 humble with gz harmonic.  
Here what I have done so far to set up my simulation:

- I created a robot.urdf.xacro file
- I created a rgbd\_camera.xacro where I attempt to configure a sensor of type RGBD
- I created a launch.py using ros\_gz\_bridge to connect my gazebo sensors and plugins to ROS

However, at the moment, nothing is being published on the camera topics …

Could someone help me by explaining me how the rgbd\_camera.xacro should be structured and how to properly configure the sensor ? Also, if needed, what is the name of the plugin I should use for this application ?

Thank you in advance!! 🙂

---

<div class="post-metadata">

**Author:** ![azeey](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/azeey/32/6795_2.png) [@azeey](https://discourse.openrobotics.org/u/azeey)\
**Post date:** [December 12, 2024, 3:56pm UTC](https://discourse.openrobotics.org/t/include-an-rgbd-cam-to-my-robot-with-humble-and-gz-sim-harmonic/48436/2 "2024-12-12T15:56:02Z")

</div>

Hello,

Thanks for posting on Gazebo Community. However, this type of question is best asked on [https://robotics.stackexchange.com/](https://robotics.stackexchange.com/). When creating the question, please make sure to include the `gazebo` tag and describe your problem in detail.