realsense-ros-sdf

ROS package for SDF versions of the RealSense camera models. We tested the following models using ROS Melodic and Gazebo 9 on Ubuntu 18.

Installation

Install the Intel RealSense camera description.

sudo apt install ros-melodic-realsense2-description

Clone the realsense gazebo plugin repository and create a link to it.

mkdir -p ${HOME}/repos && cd ${HOME}/repos
git clone https://github.com/troiwill/realsense_gazebo_plugin
cd ${HOME}/catkin_ws/src
ln -s ${HOME}/repos/realsense_gazebo_plugin realsense_gazebo_plugin

Clone this repository.

# Downloading converted SDF cameras.
mkdir -p ${HOME}/repos && cd ${HOME}/repos
git clone https://github.com/troiwill/realsense-ros-sdf.git
cd realsense-ros-sdf

Finally, add the models to your catkin workspace. To add the models to your catkin workspace, you can either use a symbolic link (option 1) or copy the description directory directly (option 2).

Option 1: (Recommended)

cd ${HOME}/catkin_ws/src
ln -s ${HOME}/repos/realsense-ros-sdf/realsense2_description_sdf realsense2_description_sdf

Option 2:

cd ${HOME}/catkin_ws/src
cp -r ${HOME}/repos/realsense-ros-sdf/realsense2_description_sdf .

After either option, run catkin build in the root workspace directory (i.e., ${HOME}/catkin_ws).

cd ${HOME}/catkin_ws
catkin build