Intel RealSense Tracking and Depth cameras simulated models for Gazebo/ROS 2, with URDF macros.
Work in progress as of June 3, 2022.
<xacro:include filename="$(find realsense_ros2_gazebo)/xacro/tracker.xacro"/>
<xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0">
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_T265>- /camera/fisheye1/*
- /camera/fisheye2/*
- /camera/gyro/sample ( accel and gyro are in the same imu message )
- /camera/odom/sample
<xacro:include filename="$(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>- /camera/color/*
- /camera/depth/*
- /camera/infra1/*
- /camera/infra2/*
<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>- /camera/color/*
- /camera/depth/*
- /camera/infra1/*
- /camera/infra2/*