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