mfe7 / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model

Intel RealSense Gazebo ROS plugin and model

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

roslaunch realsense_gazebo_plugin realsense.launch # in terminal 1
roslaunch realsense_gazebo_plugin depth_proc.launch # in terminal 2

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

Dependencies

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

The package has been tested on ROS indigo on Ubuntu 14.04 with Gazebo 7.

Acknowledgement

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