gazebo_sensor_ros2
Sensor simulation using Gazebo of ROS2
Environment
- Ubuntu 22.04 (on WSL2)
- ROS Humble
RealSense
Below page is also the article about this RealSense on Gazebo in Japanese. https://qiita.com/koichi_baseball/items/212768586c6b5f20e078
Demo
Realsense_gazebo.mp4
Dependicies
- librealsense
- realsense-ros
- realsense_gazebo_plugin
librealsense
sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
realsense-ros and realsense_gazebo_plugin
cd ~/ros2_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git -b foxy-devel
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash
Usage
git clone and colcon build
cd ~/ros2_ws/src
git clone https://github.com/koichirokato/gazebo_sensor_ros2
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash
Set Environment value
Run the following command to load the RealSense model file. (It will work without running it, but the model will not appear on Gazebo.)
export GAZEBO_MODEL_PATH=~/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/:$GAZEBO_MODEL_PATH
Launch ROS node
Gazebo
ros2 launch gazebo_sensor_ros2 realsense_gazebo.launch.py
Rviz
rviz2 -d ~/ros2_ws/src/gazebo_sensor_ros2/rviz/config.rviz