depthimage_to_laser ' Cannot call rectifyPoint when distortion is unknown.'

[q8wwe]

plugin worked for me but I cant use it with depthimage to laser :

Could not convert depth image to laserscan: Cannot call rectifyPoint when distortion is unknown.

please advice how to solve the problem

[SyrianSpock]

Which ROS/Gazebo do you use?

[q8wwe]

I used Ros Kinetic with Gazebo 7

[drjsmith]

@q8wwe @SyrianSpock I encountered the same problem some time ago. The source of the error is that rectifyPoint requires a distortion model and no distortion model is being specified in the CameraInfo message. The fix-distortion-model branch of this repo contains my fix. This diff shows how the distortion model (which in this case indicates no distortion) can be set.