intel/gazebo-realsense

A RealSense Camera Gazebo plugin

DISCONTINUATION OF PROJECT.

This project will no longer be maintained by Intel.

Intel has ceased development and contributions including, but not limited to, maintenance, bug fixes, new releases, or updates, to this project.

Intel no longer accepts patches to this project.

If you have an ongoing need to use this project, are interested in independently developing it, or would like to maintain patches for the open source software community, please create your own fork of this project.

Gazebo RealSense Plugin

A RealSense Camera Gazebo plugin.

This Gazebo plugin simulates a RealSense camera by publishing the 4 main RealSense streams: Depth, Infrared, Infrared2 and Color. It is associated to a RealSense model that is providade in ./models.

Requirements

* Gazebo 8.0+

Build

1. Create a build folder and make using CMAKE as follows:

   mkdir build
   cd build
   cmake ..
   make
   

Install

The plugin binaries will be installed so that Gazebo finds them. Also the needed models will be copied to the default gazebo models folder.

make install

[comment] Default plugin path arch: /usr/local/lib64/gazebo-8/plugins/. [comment] Default model path arch: ~/.gazebo/models. Make install is copying [comment] the models to this place changing ownership to root. We still need [comment] to fix it.

Run

```
gazebo --verbose
```

2. Insert the realsense model into the simulation.

• Click on the INSERT pane, select the realsense model and move it to the world.

Interaction

The Plugin publishes the simulated streams to ImageStamped topics. They can be inspected with the Gazebo Topic Viewer (Window->Topic Visualization) under ~/realsense/rs/stream/TOPIC_NAME.

gazebo-realsense's Issues

Just make sure to use c++17 or more (you can delete this issue)

Topics does not show outside gazebo

Hello, I have installed the Gazebo RealSense Plugin. I open gazebo using the instruction "roslaunch gazebo_ros empty_world.launch"  in order to see the topics out from gazebo. I can see the topics inside gazebo with the Topic Visualization tool but outside, using "rostopic list" don't. Why is it?

Thanks!

make fail

Hi! I am trying to build this project and when I run the make step, I get a ton of errors, ending with
make[2]: *** [gzrs/CMakeFiles/RealSensePlugin.dir/RealSensePlugin.cc.o] Error 1 CMakeFiles/Makefile2:90: recipe for target 'gzrs/CMakeFiles/RealSensePlugin.dir/all' failed make[1]: *** [gzrs/CMakeFiles/RealSensePlugin.dir/all] Error 2 Makefile:129: recipe for target 'all' failed make: *** [all] Error 2
Are there any dependencies I'm missing or versions I should check? I am unsure why it is failing. Thanks!

ROS support?

Does this model support ROS? It would be great to subscribe to the image topics with my ROS node - any documentation on how to do this, or plans for future support? Thanks!

Uninstall recipe?

Currently there is no recipe for a clean uninstall. Please correct me if I am wrong but I believe that the only requirement for removal is the deletion of the two folders gzrs and models?