Rectification of a Gazebo7 camera stream with imag_proc

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Hi there,

I am trying to rectify a camera stream of a simulated camera from Gazebo7 with image_proc.

My goal is to achieve the following two streams to be published:

• /my_camera/image_raw (should be the raw distorted image with all simulated lens errors as configured in gazebo)
• /my_camera/image_rect_color (should be the rectified camera stream with the lens errors corrected as specified in the camera_info message)

Is it right to assume that Gazebo will always send out the rectified images (on /my_camera/image_raw) already? Edges in my image_raw stream look straight to me, ie before I run any imag_proc ..

In case I run ROS_NAMESPACE=/my_camera/ rosrun image_proc image_proc the image stream added by the node on /my_camera/image_rect_color is distorted.

So I basically achieve the inverse of what I want. However, to make the simulation plug in with the real environment I would like the topics to be published as described above.

Thanks for any suggestions!