I'm trying to simulated a test setup with gazebo. I have a depth camera, rgbd_cammera added to my model and bridged the topics: color/image_raw, depth/image_raw, camera_info, /color/points to ROS2. In RVIZ they look alright, except the range of the depth image is off. I have to manually set max value within rviz to get a image otherwise it is just black.
Because of this(I think) Rtabmap doesn't register the depths correctly and shows me an almost flat pointcloud. Any parameters I can set so it normalizes the range of the depth images?
Thanks in advance!