https://github.com/rickstaa/realsense-ros-gazebo
Gazebo implementation of the realsense-ros repository
https://github.com/rickstaa/realsense-ros-gazebo
Last synced: over 1 year ago
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Gazebo implementation of the realsense-ros repository
- Host: GitHub
- URL: https://github.com/rickstaa/realsense-ros-gazebo
- Owner: rickstaa
- Created: 2020-12-01T13:15:50.000Z (over 5 years ago)
- Default Branch: main
- Last Pushed: 2023-03-06T19:03:24.000Z (over 3 years ago)
- Last Synced: 2025-01-14T07:30:00.153Z (over 1 year ago)
- Size: 27.3 KB
- Stars: 51
- Watchers: 3
- Forks: 9
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- Funding: .github/FUNDINg.yml
Awesome Lists containing this project
README
# Realsense-ros-gazebo
[](https://www.codacy.com/gh/rickstaa/realsense-ros-gazebo/dashboard?utm_source=github.com&utm_medium=referral&utm_content=rickstaa/realsense-ros-gazebo&utm_campaign=Badge_Grade)
[](https://github.com/rickstaa/realsense-ros-gazebo/releases)
[](https://wiki.ros.org)
[](contributing.md)
This repository contains all the code required to use both the simulated and real RealSense cameras with ROS. The simulated camera is implemented in [Gazebo](https://wiki.ros.org/gazebo). It contains the following submodules:
- [realsense_gazebo_plugin](https://github.com/rickstaa/realsense_gazebo_plugin/tree/melodic-devel)
- [realsense-ros](https://github.com/rickstaa/realsense-ros/tree/development-gazebo)
## Implemented cameras
It currently contains the gazebo implementation for the:
- [Realsense D335](https://github.com/rickstaa/realsense-ros/blob/development-gazebo/realsense2_description/launch/view_d435_model_rviz_gazebo.launch)
- [Realsense D435i](https://github.com/rickstaa/realsense-ros/blob/development-gazebo/realsense2_description/launch/view_d435i_model_rviz_gazebo.launch)
Feel free to add a [pull_request/issue](https://github.com/rickstaa/realsense-ros-gazebo/issues) might you need support for any of the other cameras.
## How to use
### Installed the dependencies
To use this package, you first have to make sure you installed the required Realsense libraries. A guide on how this is done can be found in [the realsense documentation](https://www.intelrealsense.com/get-started/). Additionally you also have to make sure [ROS](https://wiki.ros.org/ROS/Installation) and [Gazebo](https://wiki.ros.org/gazebo) are installed.
### Build the package
In order to build the package you have to create a catkin workspace. You can then clone the repository in the src folder using the following command:
```bash
mkdir ~/catkin_ws
cd ~/catkin_ws
git clone --recurse-submodules https://github.com/rickstaa/realsense-ros-gazebo.git src
```
Please make sure you use the `--recursive-submodules` flag as this repository contains submodules. After you cloned the repository you can install the ros dependencies using the following command:
```bash
rosdep install --from-paths src --ignore-src --rosdistro melodic
```
When this is done you can build the package using one of the following commands:
```bash
catkin_make
```
```bash
catkin build
```
### Use the package
To see the package in action source the catkin `./devel/setup.bash` script. An example can then be started using the following command:
```bash
roslaunch realsense2_description view_d435_model_rviz_gazebo.launch
```
## Acknowledgement
This repository was created following the guide on the [realsense2_description](https://github.com/issaiass/realsense2_description) repository of [@issaiass](https://github.com/issaiass)
## Contributing
Feel free to open an issue if you have ideas on how to make this GitHub action better or if you want to report a bug! All contributions are welcome. :rocket: Please consult the [contribution guidelines](CONTRIBUTING.md) for more information.