Intel RealSense Gazebo ROS plugin and model

The package is cloned from https://github.com/SyrianSpock/realsense_gazebo_plugin. We made it catkin_lint friendly and changed the topic names to match with that of our actual sensor.

Simulation of the Realsense R200 sensor in Gazebo.

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

Run from URDF

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.

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 and ROS Noetic on Ubuntu 20.04 with Gazebo 11.10.2.

Acknowledgement

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

Thanks to Danfoa for contributing the URDF integration.