Intel RealSense Gazebo ROS plugin

This package is a Gazebo ROS plugin for the Intel D435 realsense camera, tested on ROS Noetic and Gazebo 11.

Acknowledgement

This package is forked from realsense_gazebo_plugin and integrates the urdf/ launch files from realsense-ros-gazebo and fix from

Installation

You should have ROS Noetic, gazebo_ros (Gazebo 11), and realsense ROS packages already installed. For example, with Robostack a ROS environment integrated with Conda, you can install the dependencies with:

# Install gazebo_ros_pkgs
mamba install ros-noetic-gazebo-ros ros-noetic-gazebo-ros-pkgs

# Install realsense ROS packages
mamba install ros-noetic-realsense2-camera ros-noetic-realsense2-description ros-noetic-librealsense2

Then, clone this repository into your catkin workspace and build it with catkin build:

cd /path/to/catkin_ws/src
git clone [email protected]:SgtVincent/realsense_gazebo_plugin.git
cd ..
catkin build realsense_gazebo_plugin

Usage

There are example lauch files in the launch folder. You can run them with:

source devel/setup.bash
roslaunch realsense_gazebo_plugin view_d435_model_rviz_gazebo.launch