there is no image and pointcloud topic published ,after set param camera: True

[dbdxnuliba]

[yoggi56]

I found the solution. In the file walking_simulation.py you need to comment these lines:

self.cpp_gait_ctrller.set_robot_mode(self.__convert_type(1))
      for i in range(200):
         self.run()  # TODO: THIS IS BLOCKING!!
         print(i)
         p.stepSimulation
self.cpp_gait_ctrller.set_robot_mode(self.__convert_type(1))

As far as I understood these commands block the rest part of the script. I don't know the purpose of writing them by the author but the program works almost fine without them.