Gazebo ROS L515

This repository contains all the code required for implementation of simulated RealSense L515 sensor with ROS in Gazebo.

If you require gazebo implementation for other Intel Realsense cameras (ex: D435) please check the repositories mentioned in the acknowledgement section.

Install Dependencies

• ROS
• Gazebo
• Gazebo-ROS

Build the Package

If you already have a catkin workspace skip this step, else

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

Clone the repository and the build the package

git clone https://github.com/zohebabai/gazebo_ros_l515.git .
cd ..
catkin_make
cakin_make install

If not done already, Insert this in your ~/.bashrc file for sourcing your workspace:

source ~/catkin_ws/devel/setup.bash

Launch the ROS-Package

roslaunch realsense2_description view_l515_model_rviz_gazebo.launch

Demo

Video

Acknowledgement

The repository was created to fulfill the need for a package to use simulated L515 sensor in Gazebo. The repository is a combined modification of following repositories:

• realsense-ros
• realsense_gazebo_plugin
• realsense-ros-gazebo

Thanks to my colleagues at Inkers AI for all the support and resources.