Add segmentation camera plugin

[anantGarg205]

I am looking to add a semantic segmentation camera sensor to my robot. I have created a URDF file for my robot and would like to add all the sensors in that.
So far I have added cameras, Lidar for which a plugin is also needed which is readily available. For segmentation camera, I have to do the same.
Can anyone point me to the required plugin for the segmentation camera? Or is there any other way to add segmentation camera to my robot?

Any help is highly appreciated.
Thanks

[ahcorde]

You can find the tutorial in this link

Please, ask this kind of questions in https://robotics.stackexchange.com/