search

rickstaa / realsense-ros-gazebo

Gazebo implementation of the realsense-ros repository
45 stars 8 forks source link

SDF file #2

Closed AnujAgrawal7 closed 3 years ago

AnujAgrawal7 commented 3 years ago

Hey amazing repository. Simplifies a lot of work.

I want to integrate the intel RealSense D435 sensor with a iris drone to run some simulation. I require the SDF file of this sensor for that. Can you guide me on how to generate then?

I am new to URDF, XACRO and gazebo plugin. It will be really helpful if you can give me some pointers.

rickstaa commented 3 years ago

@AnujAgrawal7 Sorry for the late reply I oversaw your message. Hope you already solve your problem.

To my knowledge the urdfs that are in the realsense_description package are already modified such that they contain all the tags that are required for them to work in the gazebo simulator (see this tutorial and this blog post for more information).

If you need a pure SDF file for internal use, you might have to translate the urdf file to a sdf file yourself. After a quick search, I found the following community based sdf translation which might already be enough for your usecase. If not I think you can modify it to your needs. Let me know if you have any other questions.

AnujAgrawal7 commented 3 years ago

@rickstaa thanks! I found this repository that worked for me with some minor modifications.

rickstaa commented 3 years ago

@AnujAgrawal7 Ah thanks for putting that repo here as a reference. Good luck with your project.