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.

* Gazebo 8.0+

1. Create a build folder and make using CMAKE as follows:

   mkdir build
   cd build
   cmake ..
   make
   

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.

```
gazebo --verbose
```

2. Insert the realsense model into the simulation.

• Click on the INSERT pane, select the realsense model and move it to the world.

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.