This plugin is a Gazebo 7 plugin for the Intel RealSense RS200 RGBD camera.
The Gazebo part of the plugin was originally developed by Intel at: https://github.com/intel/gazebo-realsense
A ROS wrapper was made by SyrianSpock at: https://github.com/SyrianSpock/realsense_gazebo_plugin
This repository is a fork of this ROS wrapped project enabling support for Gazebo 7 and ROS Kinetic while still keeping the latest updates
Build the plugin
catkin build realsense_gazebo_plugin
Test it by running
roslaunch realsense_gazebo_plugin realsense.launch
After building the plugin, you can run the unittests
rostest realsense_gazebo_plugin realsense_streams.test
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
roslaunch realsense_gazebo_plugin realsense_urdf.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.
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.
This is continuation of work done by guiccbr for Intel Corporation.
Thanks to Danfoa for contributing the URDF integration.