Any plans on upgrading `realsense_gazebo_plugin` and `realsense2_description` packages for the new Gazebo (Gazebo Harmonic or later) - Githubissues

clearpathrobotics / clearpath_simulator

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Any plans on upgrading `realsense_gazebo_plugin` and `realsense2_description` packages for the new Gazebo (Gazebo Harmonic or later) #53

Open Mechazo11 opened 3 weeks ago

Mechazo11 commented 3 weeks ago

Hello,

The clearpath_simulator README states compatibility with ROS 2 Humble (LTS) and Ignition Fortress (LTS), with a jazzy branch for ROS 2 Jazzy (LTS). However, Gazebo's latest docs recommend ROS 2 Jazzy with Gazebo Harmonic (LTS) or newer (e.g., Ionic).

I’ve forward-ported most of clearpath_simulator to Gazebo Harmonic, testing with the Husky A200 sample configuration from Clearpath's Robot YAML overview. The Husky robot requires realsense_gazebo_plugin and realsense2_description packages for the RGBD sensor:

sensors:
  camera:
    - model: intel_realsense
      ...

These packages, likely from the Gazebo Classic era, may not work beyond Ignition Fortress. My attempt to update realsense_gazebo_plugin here: https://github.com/Mechazo11/realsense_gazebo_plugin was not very successful at the time of opening this Issue. I was wondering if Clearpath Robotics had any plans for upgrading these packages for use with Gazebo Harmonic.

With best regards, @Mechazo11

roni-kreinin commented 3 weeks ago

@Mechazo11 We are currently working on upgrading to Jazzy and Harmonic. The Jazzy branch of this repo should work but it is not yet complete and we have not released any Jazzy packages yet. You can check our docs for updates on Jazzy support.