Now that we have learned about the camera plugin definition in Gazebo, we can launch the complete simulation using the following command:
$ roslaunch seven_dof_arm_gazebo seven_dof_arm_with_rgbd_world.launch
We can see the robot model with a sensor on the top of the arm, as shown here:
![](https://static.packt-cdn.com/products/9781788478953/graphics/assets/baa638cd-6821-4d9d-b0ee-33f7c63c0760.jpg)
Figure 2: Simulation of seven-DOF arm with Asus Xtion Pro in Gazebo
We can now work with the simulated rgb-d sensor as if it were directly plugged into our computer. So we can check whether it provides the correct image output.