Realsense D435 in Gazebo Ignition, ROS 2
Hi, I want to add the RealSense D435i camera to my Gazebo Ignition simulation. I'm working in ROS 2 with an example simulation of the TurtleBot 4, which originally uses an OAK-D camera, but I personally prefer to use a D435i. Currently, my simulation uses a D435, but my project requires IMU data, so I decided to implement the D435i. The problem I'm having is that I can't manage to configure the IMU part in the xacro URDF, or maybe it's an issue with my Gazebo bridge. Do you have any guide on how this should be done?
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Hi Floresgonzalez-josemiguel A RealSense D435i user took the approach of adding the libgazebo_ros_imu_sensor.so plugin.
https://github.com/IntelRealSense/librealsense/issues/12867
There is also a discussion here about accessing IMU information with this plugin and Ignition Gazebo:
https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1536
And another example of using a D435i with Gazebo and the plugin:
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