Add a zed camera to the urdf

[osrf-migration]

Original report (archived issue) by Anonymous.

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Hi,

I would like to add a zed camera to the simulation. For that I tried to add the urdf of the zed camera in vrx_ws/src/vrx/wamv_gazebo/urdf/sensors and then I add this sensor to the wamv_gazebo.urf.xacro and generate the .urdf as shown in the tutorial for the stereo camera. But unfortunately it doesn't work. I am a ROS beginer and I am not sure that it's the good way to do it, could you help me to solve this problem ?

Regards, Clement

[osrf-migration]

Original comment by Brian Bingham (Bitbucket: brian_bingham).

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Clement,

The instructions at https://osrf-migration.github.io/vrx-gh-pages/#!/osrf/vrx/wiki/tutorials/AddingSensors are a bit specific to the sensors that are already described with xacro files in the sensor directory. (We aren’t planning on supporting a 3D camera for the VRX competition.)

Do you have a Gazebo model for the zed camera? If so, you should be able to make your own copy of the
wamv_gazebo.urdf.xacro and add the zed camera model to the URDF there. You might take a look at the Gazebo tutorials on the topic:

http://gazebosim.org/tutorials?tut=ros_gzplugins

http://gazebosim.org/tutorials?tut=add_laser

Brian

[osrf-migration]

Original comment by hardoin clement (Bitbucket: Clement hardoin).

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Hi Brian,

Thank you for your reply, I will try it

[HashirZahir]

Hi, I can recommend using the Intel Realsense D435 gazebo plugin. It simulates the active IR stereo rgbd camera and should be able to generate pointclouds. To see some documentation on how to use the plugin, check here.

Hope that helps.

[M1chaelM]

@caguero I propose to close this issue since we don't currently have an active request for this camera. Do you agree?