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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

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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
```
  1. 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.