realsense_ros2_gazebo

Intel RealSense Tracking and Depth cameras simulated models for Gazebo/ROS 2, with URDF macros.

Work in progress as of June 3, 2022.

RealSense T265

Usage

<xacro:include filename="$(find realsense_ros2_gazebo)/xacro/tracker.xacro"/>

<xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0">
  <origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_T265>

Publishers

• /camera/fisheye1/*
• /camera/fisheye2/*
• /camera/gyro/sample ( accel and gyro are in the same imu message )
• /camera/odom/sample

RealSense R200

Usage

<xacro:include filename="$(find realsense_ros2_gazebo)/xacro/depthcam.xacro"/>

<xacro:realsense_R200 sensor_name="camera" parent_link="base_link" rate="30.0">
  <origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_R200>

Publishers

• /camera/color/*
• /camera/depth/*
• /camera/infra1/*
• /camera/infra2/*

RealSense D435

Usage

<xacro:include filename="$(find realsense_ros2_gazebo)/xacro/depthcam.xacro"/>

<xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10">
  <origin rpy="0 0 0 " xyz="0 0 0.5"/>
</xacro:realsense_d435>

Publishers

• /camera/color/*
• /camera/depth/*
• /camera/infra1/*
• /camera/infra2/*