Intel RealSense Gazebo ROS plugin

This package is a Gazebo ROS plugin for the Intel D435 realsense camera.

Note

This branch is aimed for ROS2, if you are ROS1 user you can see the other branches(e.g melodic)

Acknowledgement

This is a continuation of work done by SyrianSpock for a Gazebo ROS plugin with RS200 camera.

This package also includes the work developed by Intel Corporation with the ROS model for the D435 camera.

Example usage with a custom robot

Note that this was tested for the ROS2 branch with ROS Foxy distro. A turtlebot3 like custom robot model was used. In custom robot’s model.sdf, we should attach the link, sensors, joint and plugin block as following;

```xml 0.4 0 0.25 0 0 0 0 0 0 -1.57 0 -1.57 model://chiconybot/meshes/d435.dae 0 0 0 -1.57 0 -1.57 0.02505 0.090 0.025 0 0 0 0 0 0 0.001 0.000 0.000 0.001 0.000 0.001 0.564

  <sensor name="cameradepth" type="depth">
    <camera name="camera">
      <horizontal_fov>1.57</horizontal_fov>
      <image>
        <width>1280</width>
        <height>720</height>
      </image>
      <clip>
        <near>0.1</near>
        <far>100</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.100</stddev>
      </noise>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>0</visualize>
  </sensor>
  <sensor name="cameracolor" type="camera">
    <camera name="camera">
      <horizontal_fov>1.57</horizontal_fov>
      <image>
        <width>1280</width>
        <height>720</height>
        <format>RGB_INT8</format>
      </image>
      <clip>
        <near>0.1</near>
        <far>100</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.007</stddev>
      </noise>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>1</visualize>
  </sensor>
  <sensor name="cameraired1" type="camera">
    <camera name="camera">
      <horizontal_fov>1.57</horizontal_fov>
      <image>
        <width>1280</width>
        <height>720</height>
        <format>L_INT8</format>

File truncated at 100 lines see the full file

Changelog for package realsense_gazebo_plugin

1.1.0 (2020-01-30)

• Merge branch 'pointcloud_ferrum' into 'ferrum-devel' added methods to publish the pointcloud information See merge request device/realsense_gazebo_plugin!14
• added methods to publish the pointcloud information
• Update readme to remove explicit mention to REEM-C
• Contributors: Sai Kishor Kothakota, Victor Lopez

1.0.4 (2019-12-10)

• Merge branch 'gazebo_xacro_ferrum' into 'ferrum-devel' remove gazebo and URDF xacro See merge request device/realsense_gazebo_plugin!12
• remove gazebo and URDF xacro
• Contributors: Sai Kishor Kothakota, Victor Lopez

1.0.3 (2019-11-05)

• Add SYSTEM to include_directories
• Contributors: Victor Lopez

1.0.2 (2019-10-30)

• Merge branch 'mesh-fix-ferrum' into 'ferrum-devel' fixed the issue with mesh location See merge request device/realsense_gazebo_plugin!10
• fixed the issue with mesh location
• Contributors: Adria Roig, Sai Kishor Kothakota

1.0.1 (2019-10-30)

• Merge branch 'multi-realsense-ferrum' into 'ferrum-devel' Update plugin to support multiple realsense camera's See merge request device/realsense_gazebo_plugin!7
• Update plugin to support multiple realsense camera's
• Contributors: Adria Roig, Sai Kishor Kothakota

1.0.0 (2019-09-10)

• Adapted to latest gazebo API changes
• Contributors: Jordan Palacios

0.0.3 (2019-03-28)

• Fix licenses for public release
• Contributors: Adria Roig

0.0.2 (2019-03-05)

• Merge branch 'realsense' into 'master' Fix missing installation files See merge request device/realsense_gazebo_plugin!2
• Fix missing installation files
• Contributors: Adria Roig

0.0.1 (2019-03-01)

• Rm unnecessary dependees
• Fix dependencies
• Merge branch 'realsense' into 'master' Realsense See merge request adriaroig/realsense_gazebo_plugin!1
• Rm unnecessary files
• Rm unneccessary files
• Delete CMakeLists.txt.user
• Initial commit
• Contributors: Adria Roig