A ready to use package, to simulate turtlebot waffle_pi with Intel RealSense D435 RGB-D camera in Gazebo and ROS . In order for the package to work you need to install the following.
-
turtlebo3_description:
sudo apt-get install ros-${ROS_DISTRO}-turtlebot3-description -
realsense2_description:
sudo apt-get install ros-${ROS_DISTRO}-realsense2-description -
Gazebo ros :
sudo sudo apt-get install ros-${ROS_DISTRO}-gazebo-ros -
Gazebo plugins:
sudo apt-get install ros-${ROS_DISTRO}-gazebo-plugins -
robot state publisher in order to have tf available in ros:
sudo apt-get install ros-${ROS_DISTRO}-robot-state-publisher
Clone the realsense plugin repository from pal-robotics (https://github.com/pal-robotics/realsense_gazebo_plugin) into your catkin_workspace/src folder
git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git
Build your workspace.
To launch the model type:
roslaunch realsense_d435_turtlebot3_gazebo_model turtlebot3_world.launch
