Add mesh and urdf for D435

[Affonso-Gui]

Collada file is the conversion of the official STEP file.
Other files use the same template as r430 and r415, with measures from the data sheet.

Can be tested with: roslaunch realsense2_camera view_d435_model.launch

Solves #400.

[mattcurf]

Would love to see this merged 👍

[felixvd]

Works great, tested it in our simulation.

(The material doesn't appear in Gazebo)

Would propose moving all the properties and material definitions inside the macro, because they can pollute the global namespace otherwise. I would also add a "prefix" parameter so that multiple cameras can be used, but that goes for the other cameras in this package as well and is a separate issue.

[dorodnic]

@Affonso-Gui this is great, thank you very much.
Will be merged soon, we might look into implementing the suggestion from @felixvd before merging.

[waiyc]

Hi, thanks for adding the d435 model into gazebo ! However, is there any way that I can publish the image data captured from the simulated camera in gazebo?

The closest reference code for this purpose that I manage to find is R200

The part that confused me most is the Gazebo reference parameters.
Is the parameters used by D435 in librealsense2.so same as the parameters used by R200 in librealsense_gazebo_plugin.so parameters.

[felixvd]

That is outside the scope of this issue, but we also use the same repo for our gazebo simulation, so we would appreciate an update with newer realsense models. The camera parameters of the R200 are absolutely not the same as for the D435.