[gazebo仿真]添加RealSense双目相机传感器

下载双目相机模型和插件，其中包含了T265、R200、D435模型

git clone https://github.com/nilseuropa/realsense_ros_gazebo.git

修改机器人xacro文件（以pioneer机器人、D435为列）

  <xacro:include filename="$(find realsense_ros_gazebo)/xacro/tracker.xacro"/>
  <xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/>
......
    <xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10">
    <origin rpy="0 0 0 " xyz="0.18 0 0.3"/>
  </xacro:realsense_d435>

注意：修改深度点云的发布信息depth.xacro文件

      <gazebo>
        <plugin name="${sensor_name}" filename="librealsense_gazebo_plugin.so">
          <prefix>${sensor_name}_</prefix>
          <depthUpdateRate>${rate}</depthUpdateRate>
          <colorUpdateRate>${rate}</colorUpdateRate>
          <infraredUpdateRate>${rate}</infraredUpdateRate>
          <depthTopicName>depth/image_raw</depthTopicName>
          <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
          <colorTopicName>color/image_raw</colorTopicName>
          <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
          <infrared1TopicName>infra1/image_raw</infrared1TopicName>
          <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
          <infrared2TopicName>infra2/image_raw</infrared2TopicName>
          <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
          <colorOpticalframeName>${sensor_name}_color_optical_frame</colorOpticalframeName>
          <depthOpticalframeName>${sensor_name}_depth_optical_frame</depthOpticalframeName>
          <infrared1OpticalframeName>${sensor_name}_infrared1_optical_frame</infrared1OpticalframeName>
          <infrared2OpticalframeName>${sensor_name}_infrared2_optical_frame</infrared2OpticalframeName>
          <rangeMinDepth>0.2</rangeMinDepth>
          <rangeMaxDepth>10.0</rangeMaxDepth>
          <pointCloud>true</pointCloud>
          <pointCloudTopicName>depth/color/points</pointCloudTopicName>
          <pointCloudCutoff>0.25</pointCloudCutoff>
          <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
        </plugin>
      </gazebo>