Open m-tartari opened 3 years ago
I've removed the usage section for the README.md, I've placed replaced it with the following:
" The plugins are needed for the URDF models of realsense cameras that will soon be available at pal-robotics-forks/realsense. A working model using this plugin can currently be found at m-tartari/realsense_gazebo_description. "
It's meant to be a temporary statement (for as long as the xacro files on pal-robotics-forks/realsense are not updated). Feel free to further comment and/or request changes.
The D435i camera publishes IMU data on 2 different topics (
/camera/accel/sample
and/camera/gyro/sample
) which publish from different frames (/camera_accel_optical_frame
and/camera_gyro_optical_frame
respectively)/camera/accel/sample
publishessensor_msgs/Imu
messages containing:/camera/gyro/sample
publishessensor_msgs/Imu
messages containing:I've made 2 independent gazebo plug-ins that are stripped-down versions of standard gazebo imu (gazebo_ros_imu_sensor).
I've added in README.md the instructions to use them in the xacro files.