Intel RealSense Gazebo ROS plugin and model

Important note

This branch only supports ROS Melodic with Gazebo 9.

To use this plugin with ROS Kinetic and Gazebo 7 you should use the kinetic-devel branch.

Quickstart

Build the plugin

catkin build realsense_gazebo_plugin

Test it by running

roslaunch realsense_gazebo_plugin realsense.launch

Run the unittests

After building the plugin, you can run the unittests

rostest realsense_gazebo_plugin realsense_streams.test

Run the point cloud demo

Using depth_image_proc package, we can generate a point cloud from the depth image by running

# in terminal 1
roslaunch realsense_gazebo_plugin realsense.launch 
# in terminal 2 
roslaunch realsense_gazebo_plugin depth_proc.launch camera_name:=realsense_plugin
# Sanity Check, terminal 3
rostopic echo /realsense_plugin/camera/depth_registered/points

Then open Rviz, and display the /realsense_plugin/camera/depth_registered/points topic, you should see something like this

Run from URDF

# Terminal 1
roslaunch realsense_gazebo_plugin realsense_urdf.launch
# Terminal 2
roslaunch realsense_gazebo_plugin depth_proc.launch

This will behave the same as realsense.launch mentioned above, with the difference that it spawns the model from a URDF (see urdf folder). You can reuse this to plug the sensor in the robot of your choice.

Dependencies

This requires Gazebo 6 or higher and catkin tools for building.

The package has been tested on ROS melodic on Ubuntu 18.04 with Gazebo 9.

Changes made

• urdf for r200 model, allign depth cam and rgb cam
• retuned some launch files stuff
• changes readme

TODO

• If facing issue with gtest dep, refer to here
• support realsense 435 series
• real fix on 2 cam tf registration misallignment issue

Acknowledgement

This is continuation of work done by guiccbr for Intel Corporation.

Thanks to Danfoa for contributing the URDF integration.