Added Intel® RealSense™ Depth Camera D435i sensor module

[serkanMzlm]

• The Intel® RealSense™ Depth Camera D435i module has been added. This allows for applications such as VIO (Visual Inertial Odometry) to be implemented.
  

• Added foggy and mountainous world model ( This model has been removed from the PX4-gazebo-models repository. You can access the part where the model is located through this link)

[xdwgood]

nice work!!!

[xdwgood]

<world name="mountain_fog">

[xdwgood]

not find data.dem file

[serkanMzlm]

Oh, yes, I missed that. That part was left while working on data.dem, it should be data.dt2. I corrected the error, but making complex shapes collisions no longer seems logical. Instead, simpler collisions can be used

[xdwgood]

Do you know why point cloud data can't be displayed on gz?

[serkanMzlm]

Do you know why point cloud data can't be displayed on gz?

The point cloud data is not sufficient for visualization in this part. Additionally, you need to calculate and publish the gz::msgs::Float_V data

You can check out this plugin as an example

[serkanMzlm]

The Intel® RealSense™ Depth Camera D435i model works correctly with the PX4 software

[xdwgood]

Everything is working normally now.

[hamishwillee]

Note, when this goes in please update the docs. For Gazebo (gz) you can:

• add worlds here https://docs.px4.io/main/en/sim_gazebo_gz/worlds.html and here https://docs.px4.io/main/en/sim_gazebo_gz/#specify-world
• vehicles here https://docs.px4.io/main/en/sim_gazebo_gz/vehicles.html

The main thing to capture though is, if I am a user, how can I actually use this? I.e. if this is used for VIO, what setup is needed? This might imply other docs need to be updated.

[serkanMzlm]

@hamishwillee, VIO setups can be a bit challenging. You will need to download OpenVINS. Additionally, the camera needs to be calibrated in the simulation environment. Explaining and describing these processes can be quite time-consuming.

[hamishwillee]

VIO setups can be a bit challenging. You will need to download OpenVINS. Additionally, the camera needs to be calibrated in the simulation environment. Explaining and describing these processes can be quite time-consuming.

Thank you. To this I respond "the undocumented feature might as well not exist". But up to the you and the team to decide how much or how little it makes sense for this to be worth documenting (at all). I figure the absolute minimum is the world, because it is fun to try different environments and is independent of the sensor itself.