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ipab-slmc / nextage_core

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[nextagea_description] librealsense_gazebo_plugin.so shared library missing, Realsense not working in ROS (FIXED) #32

Open the-raspberry-pi-guy opened 3 years ago

the-raspberry-pi-guy commented 3 years ago

In NextageAOpen_gazebo_intel_realsense.urdf.xacro, there is a plugin for Gazebo that operates the Intel Realsense camera - it transforms the simulation and publishes on ROS topics: https://github.com/ipab-slmc/nextagea/blob/672767b356fcdec99076227e42bf2a1eed55a94d/nextagea_description/urdf/NextageAOpen_gazebo_intel_realsense.urdf.xacro#L113-L136

I have noticed however that, while the camera view is visualised in Gazebo, none of the topics were appearing in ROS: image

Notice in the plugin, there is a librealsense_gazebo_plugin.so referenced. This is currently missing and hasn't been documented. It is built from the PAL Robotics repo here: https://github.com/pal-robotics/realsense_gazebo_plugin. This must be cloned into your workspace and built, and after this the Realsense topics appear in ROS. This was strange as Gazebo does not complain when it is missing, it just does not pass the topics into ROS. It is also discussed in this forum post: https://answers.ros.org/question/345598/intel-realsense-d400-in-gazebo-simulation/?answer=348386#post-id-348386

@VladimirIvan how would you like me to enforce this dependency? Where to document? Or is there any clever way of also ensuring that this Git repo gets downloaded?

the-raspberry-pi-guy commented 3 years ago

Spoke to Vlad, will add into the package.xml and create a ROS install