Intel RealSense Gazebo ROS plugin and model
This branch only supports ROS Melodic with Gazebo 9.
To use this plugin with ROS Kinetic and Gazebo 7 you should use the
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
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
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.