gazebo_sensor_ros2

Sensor simulation using Gazebo of ROS2

Environment

• Ubuntu 22.04 (on WSL2)
• ROS Humble

RealSense

Below page is also the article about this RealSense on Gazebo in Japanese. https://qiita.com/koichi_baseball/items/212768586c6b5f20e078

Demo

Realsense_gazebo.mp4

Dependicies

• librealsense
• realsense-ros
• realsense_gazebo_plugin

librealsense

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera

realsense-ros and realsense_gazebo_plugin

cd ~/ros2_ws/src
git clone https://github.com/IntelRealSense/realsense-ros.git -b ros2-development
git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git -b foxy-devel
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

Usage

git clone and colcon build

cd ~/ros2_ws/src
git clone https://github.com/koichirokato/gazebo_sensor_ros2
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

Set Environment value

Run the following command to load the RealSense model file. (It will work without running it, but the model will not appear on Gazebo.)

export GAZEBO_MODEL_PATH=~/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/:$GAZEBO_MODEL_PATH

Launch ROS node

Gazebo

ros2 launch gazebo_sensor_ros2 realsense_gazebo.launch.py

Rviz

rviz2 -d ~/ros2_ws/src/gazebo_sensor_ros2/rviz/config.rviz