I'm trying to use the libgazebo_ros_openni_kinect plugin in a simple scene with a grass textured ground plane, a table and a coke can. I can see the color image published by the plugin in RViz. However, the color image doesn't have shadows and the grass texture sometimes is seen sometimes is not, depending on how I move the camera. See a gazebo screenshot (even the rendering of the grass in gazebo has some artifacts):
and the corresponding color image in RViz:
If I just rotate the camera a tiny bit in gazebo I completely lose the grass texture on the generated color image:
Why does this happen? is it a bug? how can I workaround it?
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