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Intel RealSense Gazebo/ROS

Intel Realsense Tracking and Depth camera simulations and URDF&SDF macros. T265 & D435i

RealSense T265

Usage

<xacro:include filename="$(find realsense_ros_gazebo)/xacro/tracker.xacro"/>

<xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0">
  <origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_T265>

Publishers

  • /camera/fisheye1/*
  • /camera/fisheye2/*
  • /camera/gyro/sample ( accel and gyro are in the same imu message )
  • /camera/odom/sample

RealSense R200

Usage

<xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/>

<xacro:realsense_R200 sensor_name="camera" parent_link="base_link" rate="30.0">
  <origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_R200>

Publishers

  • /camera/color/*
  • /camera/depth/*
  • /camera/infra1/*
  • /camera/infra2/*

RealSense D435

Usage

  • 启动sdf simulation
    roslaunch realsense_ros_gazebo simulation_sdf.launch
  • 启动xacro simulation
    roslaunch realsense_ros_gazebo simulation.launch

xacro

<xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/>

<xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10">
  <origin rpy="0 0 0 " xyz="0 0 0.5"/>
</xacro:realsense_d435>

sdf

    <include>
      <uri>model://realsense_camera</uri>
      <pose>0.12 0 0.02 1.57 0 1.57</pose>
    </include>

    <joint name="realsense_camera_joint" type="fixed">
      <child>realsense_camera::camera_link</child>
      <parent>iris::base_link</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <upper>0</upper>
          <lower>0</lower>
        </limit>
      </axis>
    </joint>

其中的iris根据自己的robot model name一致

Publishers

  • /camera/color/*
  • /camera/depth/*
  • /camera/infra1/*
  • /camera/infra2/*