Realsense-ros-gazebo

This repository contains all the code required to use both the simulated and real RealSense cameras with ROS. The simulated camera is implemented in Gazebo. It contains the following submodules:

• realsense_gazebo_plugin
• realsense-ros

Implemented cameras

It currently contains the gazebo implementation for the:

• Realsense D335
• Realsense D435i

Feel free to add a pull_request/issue might you need support for any of the other cameras.

How to use

Installed the dependencies

To use this package, you first have to make sure you installed the required Realsense libraries. A guide on how this is done can be found in the realsense documentation. Additionally you also have to make sure ROS and Gazebo are installed.

Build the package

In order to build the package you have to create a catkin workspace. You can then clone the repository in the src folder using the following command:

mkdir ~/catkin_ws
cd ~/catkin_ws
git clone --recurse-submodules https://github.com/rickstaa/realsense-ros-gazebo.git src

Please make sure you use the --recursive-submodules flag as this repository contains submodules. After you cloned the repository you can install the ros dependencies using the following command:

rosdep install --from-paths src --ignore-src --rosdistro melodic

When this is done you can build the package using one of the following commands:

catkin_make

catkin build

Use the package

To see the package in action source the catkin ./devel/setup.bash script. An example can then be started using the following command:

roslaunch realsense2_description view_d435_model_rviz_gazebo.launch

Acknowledgement

This repository was created following the guide on the realsense2_description repository of @issaiass

Contributing

Feel free to open an issue if you have ideas on how to make this GitHub action better or if you want to report a bug! All contributions are welcome. :rocket: Please consult the contribution guidelines for more information.