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realsense_gazebo_plugin package from xarm_ros2 repo

mbot_demo realsense_gazebo_plugin uf_ros_lib xarm_api xarm_controller xarm_description xarm_gazebo xarm_moveit_config xarm_moveit_servo xarm_msgs xarm_planner xarm_sdk

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	1.1.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS2 developer packages for robotic products from UFACTORY
Checkout URI	https://github.com/xarm-developer/xarm_ros2.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-10
Dev Status	UNKNOWN
CI status	No Continuous Integration
Released	UNRELEASED
Tags	robotics gazebo ros2
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Intel RealSense D435 Gazebo plugin package

Additional Links

Maintainers

Sergey Dorodnicov
Doron Hirshberg
Salah-Eddine Missri
Adria Roig

Authors

Sergey Dorodnicov
Doron Hirshberg
Fetullah Atas

thirdparty/realsense_gazebo_plugin/README.md

Intel RealSense Gazebo ROS plugin

This package is a Gazebo ROS plugin for the Intel D435 realsense camera.

Note

This branch is aimed for ROS2, if you are ROS1 user you can see the other branches(e.g melodic)

Acknowledgement

This is a continuation of work done by SyrianSpock for a Gazebo ROS plugin with RS200 camera.

This package also includes the work developed by Intel Corporation with the ROS model for the D435 camera.

Example usage with a custom robot

Note that this was tested for the ROS2 branch with ROS Foxy distro. A turtlebot3 like custom robot model was used. In custom robot’s model.sdf, we should attach the link, sensors, joint and plugin block as following;

    <link name="realsense_link">
      <pose>0.4 0 0.25 0 0 0</pose>
      <visual name="realsense_link_visual">
        <pose>0 0 0 -1.57 0 -1.57</pose>
        <geometry>
          <mesh>
            <uri>model://chiconybot/meshes/d435.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="realsense_link_collision">
        <pose>0 0 0 -1.57 0 -1.57</pose>
        <geometry>
          <box>
            <size>0.02505 0.090 0.025</size>
          </box>
        </geometry>
      </collision>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <inertia>
          <ixx>0.001</ixx>
          <ixy>0.000</ixy>
          <ixz>0.000</ixz>
          <iyy>0.001</iyy>
          <iyz>0.000</iyz>
          <izz>0.001</izz>
        </inertia>
        <mass>0.564</mass>
      </inertial>

      <sensor name="cameradepth" type="depth">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.100</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameracolor" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>RGB_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>1</visualize>
      </sensor>
      <sensor name="cameraired1" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameraired2" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
    </link>

    <joint name="realsense_joint" type="fixed">
      <parent>base_link</parent>
      <child>realsense_link</child>
      <pose>0.4 0 0.4 0 0 0</pose>
    </joint>

    <plugin name="camera" filename="librealsense_gazebo_plugin.so">
      <prefix>camera</prefix>
      <depthUpdateRate>30.0</depthUpdateRate>
      <colorUpdateRate>30.0</colorUpdateRate>
      <infraredUpdateRate>1.0</infraredUpdateRate>
      <depthTopicName>aligned_depth_to_color/image_raw</depthTopicName>
      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
      <colorTopicName>color/image_raw</colorTopicName>
      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
      <colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
      <depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
      <infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
      <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
      <rangeMinDepth>0.3</rangeMinDepth>
      <rangeMaxDepth>3.0</rangeMaxDepth>
      <pointCloud>true</pointCloud>
      <pointCloudTopicName>depth/color/points</pointCloudTopicName>
      <pointCloudCutoff>0.3</pointCloudCutoff>
    </plugin>

Finally we should define the joint, links of each camera(color, depth, ir_right, ir_left) W.R.T robot body, In URDF(usually in xxx_description package) of the robot add following;

  <link name="camera_bottom_screw_frame">
    <visual>
      <geometry>
        <mesh filename="package://chiconybot_description/meshes/sensors/d435.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://chiconybot_description/meshes/sensors/d435.dae" />
      </geometry>
    </collision>
  </link>

  <link name="camera_link"></link>

  <link name="camera_depth_frame"></link>

  <link name="camera_depth_optical_frame"></link>

  <link name="camera_color_frame"></link>

  <link name="camera_color_optical_frame"></link>

  <link name="camera_left_ir_frame"></link>

  <link name="camera_left_ir_optical_frame"></link>

  <link name="camera_right_ir_frame"></link>

  <link name="camera_right_ir_optical_frame"></link>


   <joint name="camera_joint" type="fixed">
    <parent link="base_link" />
    <child link="camera_bottom_screw_frame" />
    <pose xyz="0.4 0 0.25" rpy="0 0 0" />
  </joint>

  <joint name="camera_link_joint" type="fixed">
    <parent link="camera_bottom_screw_frame" />
    <child link="camera_link" />
    <pose xyz="0 0.0175 0.0125 " rpy="0 0 0" />
  </joint>

  <joint name="camera_depth_joint" type="fixed">
    <parent link="camera_link" />
    <child link="camera_depth_frame" />
    <pose xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <joint name="camera_depth_optical_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_depth_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_color_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_color_frame" />
    <pose xyz="0 0 0" rpy="0 0 0" />
  </joint>

  <joint name="camera_color_optical_joint" type="fixed">
    <parent link="camera_color_frame" />
    <child link="camera_color_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_left_ir_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_left_ir_frame" />
    <pose xyz="0 0 0 " rpy="0 0 0 " />
  </joint>

  <joint name="camera_left_ir_optical_joint" type="fixed">
    <parent link="camera_left_ir_frame" />
    <child link="camera_left_ir_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

  <joint name="camera_right_ir_joint" type="fixed">
    <parent link="camera_depth_frame" />
    <child link="camera_right_ir_frame" />
    <pose xyz="0 -0.050 0 " rpy="0 0 0" />
  </joint>

  <joint name="camera_right_ir_optical_joint" type="fixed">
    <parent link="camera_right_ir_frame" />
    <child link="camera_right_ir_optical_frame" />
    <pose xyz="0 0 0 " rpy="-1.57 0 -1.57" />
  </joint>

CHANGELOG

Changelog for package realsense_gazebo_plugin

1.1.0 (2020-01-30)

Merge branch 'pointcloud_ferrum' into 'ferrum-devel' added methods to publish the pointcloud information See merge request device/realsense_gazebo_plugin!14
added methods to publish the pointcloud information
Update readme to remove explicit mention to REEM-C
Contributors: Sai Kishor Kothakota, Victor Lopez

1.0.4 (2019-12-10)

Merge branch 'gazebo_xacro_ferrum' into 'ferrum-devel' remove gazebo and URDF xacro See merge request device/realsense_gazebo_plugin!12
remove gazebo and URDF xacro
Contributors: Sai Kishor Kothakota, Victor Lopez

1.0.3 (2019-11-05)

Add SYSTEM to include_directories
Contributors: Victor Lopez

1.0.2 (2019-10-30)

Merge branch 'mesh-fix-ferrum' into 'ferrum-devel' fixed the issue with mesh location See merge request device/realsense_gazebo_plugin!10
fixed the issue with mesh location
Contributors: Adria Roig, Sai Kishor Kothakota

1.0.1 (2019-10-30)

Merge branch 'multi-realsense-ferrum' into 'ferrum-devel' Update plugin to support multiple realsense camera's See merge request device/realsense_gazebo_plugin!7
Update plugin to support multiple realsense camera's
Contributors: Adria Roig, Sai Kishor Kothakota

1.0.0 (2019-09-10)

Adapted to latest gazebo API changes
Contributors: Jordan Palacios

0.0.3 (2019-03-28)

Fix licenses for public release
Contributors: Adria Roig

0.0.2 (2019-03-05)

Merge branch 'realsense' into 'master' Fix missing installation files See merge request device/realsense_gazebo_plugin!2
Fix missing installation files
Contributors: Adria Roig

0.0.1 (2019-03-01)

Rm unnecessary dependees
Fix dependencies
Merge branch 'realsense' into 'master' Realsense See merge request adriaroig/realsense_gazebo_plugin!1
Rm unnecessary files
Rm unneccessary files
Delete CMakeLists.txt.user
Initial commit
Contributors: Adria Roig

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_cmake
	gazebo_ros
	rclcpp
	sensor_msgs
	image_transport
	camera_info_manager

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
bringup
dual_ur5e_gripper_moveit_config

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `realsense_gazebo_plugin` at Robotics Stack Exchange

API Docs Browse Code

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