RealSense D435 camera in Gazebo
Environment: Ubuntu 20.04 Noetic
Prerequisite
$ sudo apt-get install ros-noetic-realsense2-description
Before executing catkin_make, check the version of protoc.
How to figure out the version.
$ protoc --version libprotoc 3.6.1
If you do not have protoc version 3.6.1, remove the protoc and then install protoc 3.6.1.
$ mkdir ~/repos && cd ~/repos
~/repos $ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.6.1/protobuf-all-3.6.1.tar.gz
~/repos $ tar -xvzf protobuf-all-3.6.1.tar.gz && cd protobuf-3.6.1
~/repos/protobuf-3.6.1/ $ ./configure
~/repos/protobuf-3.6.1/ $ make
~/repos/protobuf-3.6.1/ $ make check
~/repos/protobuf-3.6.1/ $ sudo make install
~/repos/protobuf-3.6.1/ $ sudo ldconfig
Go to the site https://github.com/pal-robotics/realsense_gazebo_plugin
and clone this package into the ~/catkin_ws/src directory.
Then, build it.
$ roslaunch camera_simulator realsense2_gazebo.launch
More Info.
Package Contents: 3 urdf files and 1 launch file
Replace false with true to get point cloud data. (Line 21)
Implementation in Gazebo version 11
RVIZ point cloud data