# Simulated kinect rotation around X [gazebo bug?]

I asked this question on answers.ros.org and gazebo.ros.org but still haven't got any answer. I'm posting my question here with the hope someone can help me.

In our robot, the Kinect can be mounted on the side of the arm, as shown in the screenshot below. When running the simulation in Fuerte, I found this weird behaviour. As you can observe on the image, the point cloud does not match the robot model (we see a partial image of the hand/arm at the bottom left of the screenshot, which should be on the robot model).

As soon as I rotate the kinect against its X axis (so that the kinect is horizontal as you can see on the second screenshot), then the point cloud and robot model are aligned properly.

The kinect xacro and dae are the one from the turtlebot. I'm simply attaching them with a rotation:

<joint name="base_camera_joint" type="fixed">
<origin  xyz="0.01216 0.1713 0.433"
rpy="-$${M_PI/2}$${M_PI/4} -\${M_PI/12}" />
<!-- This -pi/2 in origin rpy is the offending parameter -->

</joint>


The code can be seen on github.

Any help is greatly appreciated!