example_d415_gazebo.urdf.xacro

<?xml version="1.0"?>
<robot name="realsense2_gz_camera" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:arg name="camera_name" default="camera" />
  <xacro:arg name="add_plug" default="false" />
  <xacro:arg name="use_mesh" default="true" />
  <!-- Include the desired camera URDF xacro -->
  <xacro:include filename="$(find realsense2_description)/urdf/_d415.urdf.xacro" />
  <!-- Include the matching gazebo camera xacro -->
  <xacro:include filename="$(find realsense2_gz_description)/urdf/_d415.gazebo.xacro" />

  <xacro:property name="use_nominal_extrinsics" value="true" /> <!-- All camera frames are required for simulation -->

  <link name="world" /> <!-- The parent of the camera in this example is the Gazebo world -->
  <!-- Call the URDF xacro. -->
  <xacro:sensor_d415 parent="world" name="$(arg camera_name)" use_nominal_extrinsics="${use_nominal_extrinsics}" add_plug="$(arg add_plug)" use_mesh="$(arg use_mesh)">
    <!-- Place the camera above the ground and point it down a little to look at the objects in the scene -->
    <origin xyz="0 0 0.5" rpy="0 0.1 0"/>
  </xacro:sensor_d415>

  <!--
  This example xacro is the top parent so we need to include the Gazebo Sensor plugin here so the camera we define in the xarco below works.
  Starting this plugin in the top level allows developers to define multiple cameras in their robot and only include the plugin once.
  If you don't want to start the Sensors plugin in your URDF you can move starting this plugin to the world.sdf file you are working with. -->
  <gazebo>
    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
  </gazebo>

  <!-- The xacros included in this repo assume the same link/joint names as sensor_d415 when passed the same name -->
  <xacro:gazebo_d415 name="$(arg camera_name)"/>
</robot>