Integrating the Realsense camera into Sim so that the Camera transforms are published and so we can see things in gazebo.
Currently all camera streams are online but the Sim performance does suffer with around 8 fps. The point cloud looks good and the camera stream makes sense.
FelixKHWong
commented
1 year ago
Integrating the Realsense camera into Sim so that the Camera transforms are published and so we can see things in gazebo. Currently all camera streams are online but the Sim performance does suffer with around 8 fps. The point cloud looks good and the camera stream makes sense.
See this link for some more context. https://bdschnap.atlassian.net/wiki/spaces/FYDP/pages/34635777/Simulation This plugin also requires the PAL Realsense plugin to be downloaded and built once with catkin. https://github.com/pal-robotics/realsense_gazebo_plugin
To turn off the point cloud and improve performance go to movo_common/movo_description/urdf/sensors/_d435.gazebo.xacro and set to be false
