m-tartari / realsense_gazebo_description

Gazebo models for Intel RealSense D435, D435i and T265 cameras

Hi there, I'm Michele - aka m-tartari 👋

A Robotics/Full-Stack Engineer from Italy

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realsense_gazebo_description's Issues

Ir1 and ir2 images are in the same frame

Altough Infra1 and Infra2 are assigned to own frames in d435i_urdf.xacro, Infra1 and Infra2 on Gazebo are in same frame. But, Infra1 and Infra2 are in own frames o Rviz. I think Infra1 and Infa2 frames lump on gazebo. I put

"
true

"
this code block to prevent lumping problem, but same problem occured again. How can I solve this problem ?

pointcloud without color

Hi, thanks for the work! Is there a reason i get a flat black color when i visualize the point cloud in Rviz? I am using the RGB8 color transformer and adding the camera like this:

  <xacro:include filename="$(find realsense_gazebo_description)/urdf/_d435i.urdf.xacro"/>
  <xacro:sensor_d435i parent="chassis_link" name="camera" topics_ns="camera" align_depth="true" visualize="true" enable_pointCloud="true"> 
    <origin xyz="1.1 0 0.5" rpy="0 0.16 0"/>
  </xacro:sensor_d435i>

Adding noise to depth and PC measurements

I'm trying to use your plugins but the Gaussian noise parameters of the depth sensor on _d435i.gazebo.xacro does not seem to have any effect on the measurements (depth image or point clouds). Any idea why?