realsense_ros_gazebo

Code cloned from Intel RealSense Gazebo/ROS

This repository provides the d435i camera model and iris_D435i model for simulation in Gazebo. Some parameters have been modified in the original model configuration files.

In fact, you can directly use the iris_depth_camera model provided by the official px4 for drone simulation.

Quick Start

Tested and compiled on Ubuntu 18.04 with ROS and px4 environment installed.

git clone https://github.com/tugepaopaoo/realsense_ros_gazebo.git
cd realsense_ros_gazebo
catkin_make

After the compilation is complete, you can quickly check if it was successful by running the following command in the current terminal:

source devel/setup.bash && roslaunch realsense_ros_gazebo simulation.launch

You can also run the following command to view the simulation:

source devel/setup.bash && roslaunch realsense_ros_gazebo simulation_D435i_sdf.launch

Environment Configuration

Configuring the environment to load iris unmanned aircraft with D435i in Gazebo simulation.

Copy the camera plugin librealsense_gazebo_plugin.so to the dynamic library directory of px4.

cp ${YOUR_WORKSPACE_PATH}/devel/lib/librealsense_gazebo_plugin.so ${YOUR_PX4_PATH}/build/px4_sitl_default/build_gazebo/

Copy the camera model D435i and aircraft model iris_D435i to the model library of px4.

cp -r ${YOUR_WORKSPACE_PATH}/src/realsense_ros_gazebo/sdf/D435i ${YOUR_PX4_PATH}/Tools/sitl_gazebo/models/
cp -r ${YOUR_WORKSPACE_PATH}/src/realsense_ros_gazebo/sdf/iris_D435i ${YOUR_PX4_PATH}/Tools/sitl_gazebo/models/

Note: When installing PX4, you should have already configured the relevant environment in the .bashrc file. The file should have the following commands at the end (/home/user/PX4_Firmware should be replaced with your own path, i.e., ${YOUR_PX4_PATH} mentioned above):

source /home/user/PX4_Firmware/Tools/setup_gazebo.bash /home/hahaha/PX4_Firmware /home/hahaha/PX4_Firmware/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/user/PX4_Firmware
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/user/PX4_Firmware/Tools/sitl_gazebo

Launch Gazebo Simulation

Modify the mavros_posix_sitl.launch file in the ${YOUR_PX4_PATH}/launch directory. Replace the model in <arg name="sdf" default=" "/> with the iris_D435i.sdf model copied to px4, and keep the rest unchanged. The modified part should look like the following:

<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_D435i/iris_D435i.sdf"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>

In the terminal, run the command to see the iris_D435i.sdf model in Gazebo.

In a new terminal, you can use the command rostopic list to see the relevant camera topic messages.

Adjustment of Image Display in Front of the Camera

By adjusting the graphical properties in the camera model D435i.sdf file, you can choose to either display or hide the real-time camera view in front of the camera.

<visualize>1</visualize> for display; <visualize>0</visualize> for hide;

The effect when hidden is as follows:

Change Log

Origin
- Only modifications were made to the iris_D435i.sdf file in the original repository.
Changed `0.25 0 0 1.5708 0 1.5708` to `0.12 0 0 1.5708 0 1.5708`
Changed <child>D435i::realsense_camera_link</child> to <child>D435i::camera_link</child>
June 22, 2023
- Modify plugins src file to enable <robotNamespace> element.
- Create new sdf and sdf.jinja file to make the multi-robot simulation possible
- Add multi-robot launch file accordingly (You need to copy them to your repository)