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>