Intel RealSense Gazebo ROS plugin

This package is a Gazebo ROS plugin for the Intel D435 realsense camera.

Note

This branch is aimed for ROS2, if you are ROS1 user you can see the other branches(e.g melodic)

Acknowledgement

This is a continuation of work done by SyrianSpock for a Gazebo ROS plugin with RS200 camera.

This package also includes the work developed by Intel Corporation with the ROS model for the D435 camera.

Example usage with a custom robot

Note that this was tested for the ROS2 branch with ROS Foxy distro. A turtlebot3 like custom robot model was used. In custom robot's model.sdf, we should attach the link, sensors, joint and plugin block as following;

    <link name="realsense_link">
      <pose>0.4 0 0.25 0 0 0</pose>
      <visual name="realsense_link_visual">
        <pose>0 0 0 -1.57 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://chiconybot/meshes/d435.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="realsense_link_collision">
        <pose>0 0 0 -1.57 0 -1.57</pose>
        <geometry>
          <box>
            <size>0.02505 0.090 0.025</size>
          </box>
        </geometry>
      </collision>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.001</iyy>
          <iyz>0.000</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.564</mass>
      </inertial>

      <sensor name="cameradepth" type="depth">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.100</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameracolor" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>RGB_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>1</visualize>
      </sensor>
      <sensor name="cameraired1" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameraired2" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
    </link>

    <joint name="realsense_joint" type="fixed">
      <parent>base_link</parent>
      <child>realsense_link</child>
      <pose>0.4 0 0.4 0 0 0</pose>
    </joint>

    <plugin name="camera" filename="librealsense_gazebo_plugin.so">
      <prefix>camera</prefix>
      <depthUpdateRate>30.0</depthUpdateRate>
      <colorUpdateRate>30.0</colorUpdateRate>
      <infraredUpdateRate>1.0</infraredUpdateRate>
      <depthTopicName>aligned_depth_to_color/image_raw</depthTopicName>
      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
      <colorTopicName>color/image_raw</colorTopicName>
      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
      <colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
      <depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
      <infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
      <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
      <rangeMinDepth>0.3</rangeMinDepth>
      <rangeMaxDepth>3.0</rangeMaxDepth>
      <pointCloud>true</pointCloud>
      <pointCloudTopicName>depth/color/points</pointCloudTopicName>
      <pointCloudCutoff>0.3</pointCloudCutoff>
    </plugin>

Finally we should define the joint, links of each camera(color, depth, ir_right, ir_left) W.R.T robot body, In URDF(usually in xxx_description package) of the robot add following;

  <link name="camera_bottom_screw_frame">
    <visual>
      <geometry>
        <mesh filename="package://chiconybot_description/meshes/sensors/d435.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://chiconybot_description/meshes/sensors/d435.dae" />
      </geometry>
    </collision>
  </link>

  <link name="camera_link"></link>

  <link name="camera_depth_frame"></link>

  <link name="camera_depth_optical_frame"></link>

  <link name="camera_color_frame"></link>

  <link name="camera_color_optical_frame"></link>

  <link name="camera_left_ir_frame"></link>

  <link name="camera_left_ir_optical_frame"></link>

  <link name="camera_right_ir_frame"></link>

  <link name="camera_right_ir_optical_frame"></link>


   <joint name="camera_joint" type="fixed">
    <parent link="base_link" />
    <child link="camera_bottom_screw_frame" />
    <pose xyz="0.4 0 0.25" rpy="0 0 0" />
  </joint>

  <joint name="camera_link_joint" type="fixed">
    <parent link="camera_bottom_screw_frame" />
    <child link="camera_link" />
    <pose xyz="0 0.0175 0.0125 " rpy="0 0 0" />
  </joint>

  <joint name="camera_depth_joint" type="fixed">
    <parent link="camera_link" />
    <child link="camera_depth_frame" />
    <pose xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <joint name="camera_depth_optical_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_depth_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_color_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_color_frame" />
    <pose xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <joint name="camera_color_optical_joint" type="fixed">
    <parent link="camera_color_frame" />
    <child link="camera_color_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_left_ir_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_left_ir_frame" />
    <pose xyz="0 0 0 " rpy="0 0 0 " />
  </joint>

  <joint name="camera_left_ir_optical_joint" type="fixed">
    <parent link="camera_left_ir_frame" />
    <child link="camera_left_ir_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_right_ir_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_right_ir_frame" />
    <pose xyz="0 -0.050 0 " rpy="0 0 0" />
  </joint>

  <joint name="camera_right_ir_optical_joint" type="fixed">
    <parent link="camera_right_ir_frame" />
    <child link="camera_right_ir_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

tailosinc/realsense_gazebo_plugin_public

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