Realsense2 Description

Note: This is a fork of the issaiass/realsense2_description repository.

Prerequisites

Install the realsense_gazebo_plugin package by following the linked instructions.

Installation

Clone this repository in your catkin workspace and then build.

# Make a catkin workspace.
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src

# Clone the repository.
git clone https://github.com/troiwill/realsense2_description.git

# Build
cd ../
catkin build
source devel/setup.bash

Run the D435 + Rviz + Gazebo Demo

Run the following command to spawn a D435 camera in Gazebo anr run Rviz.

roslaunch realsense2_description view_d435_model_rviz_gazebo.launch

Please ensure that you see the camera topics published by the camera.

rostopic list

Camera Calibration

Install the calibration_gazebo ROS package so that you can calibrate your simulated camera in Gazebo.

cd ~/catkin_ws/src
git clone https://github.com/oKermorgant/calibration_gazebo
cd ../
catkin build
source devel/setup.bash

Converting a .xacro file to SDF

If you need to attach one of these cameras to an SDF file, you may need to convert the camera *.xacro file to *.sdf. Here are sample instructions to produce an SDF. Simply replace test_d435_camera with the camera of interest.

xacro test_d435_camera.urdf.xacro > test_d435_camera.urdf
gz sdf -p test_d435_camera.urdf > test_d435_camera.sdf