No Documentation on How to Use this Package

[mzahana]

Can you please provide some documentation on how you compile and add the plugin to Gazebo plugin path?

Thank you.

[florianspy]

Hey i found out.
First download this package and put it into your catkinws src folder and then compile the catkin package.
This will generate a shared library called librealsense_gazebo_plugin.so for you which is used in the files you gonna download in the next steps.
you need to download the two xacro files https://github.com/pal-robotics-forks/realsense/tree/upstream/realsense2_description/urdf _d435.gazebo.xacro and _d435.urdf.xacro
put those two files in the package inside the urdf folder where you want your realsense to be simulated then in the file _d435.urdf.xacro
change the line 13
from
<xacro:include filename="$(find realsense2_description)/urdf/urdf_d435.gazebo.xacro"/>
to packagename with being the name of the package
<xacro:include filename="$(find packagename)/urdf/urdf_d435.gazebo.xacro"/>
Then in the urdf file where you want to use the simulated realsense add the following code, while again replacing packagename with the name of the package you are using. and baselink which the link where you want the realsense camera to be joint on.
<xacro:include filename="$(find packagename)/urdf/_d435.urdf.xacro" />
<sensor_d435 parent="${prefix}base_link">

</sensor_d435>
Afterwards when you launch file which uses this urdf model you will find the simulate realsense and you should see rostopics like /camera/color/image_raw

[Kavin-Kailash]

My application requires me to add the d435 sensor in a .sdf file containing my main robot description.

Please help me out. I new to modifying description files.

[florianspy]

here is an example code how we used it.

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<!--
  Author: Felix Messmer
-->

  <xacro:include filename="$(find ur_e_description)/urdf/ur.transmission.xacro" />
  <xacro:include filename="$(find ur_e_description)/urdf/ur.gazebo.xacro" />

   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
    <inertial>
      <mass value="${mass}" />
      <xacro:insert_block name="origin" />
      <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
        iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
        izz="${0.5 * mass * radius * radius}" />
    </inertial>
  </xacro:macro>

  <xacro:macro name="ur3e_robot" params="prefix joint_limited
    shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
    shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
    elbow_joint_lower_limit:=${-pi}    elbow_joint_upper_limit:=${pi}
    wrist_1_lower_limit:=${-pi}    wrist_1_upper_limit:=${pi}
    wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
    wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}
    transmission_hw_interface:=hardware_interface/PositionJointInterface
    safety_limits:=false safety_pos_margin:=0.15
    safety_k_position:=20">

    <!-- Inertia parameters -->
    <xacro:property name="base_mass" value="2.0" />  <!-- This mass might be incorrect -->
    <xacro:property name="shoulder_mass" value="2.0" />
    <xacro:property name="upper_arm_mass" value="3.42" />
    <xacro:property name="forearm_mass" value="1.26" />
    <xacro:property name="wrist_1_mass" value="0.8" />
    <xacro:property name="wrist_2_mass" value="0.8" />
    <xacro:property name="wrist_3_mass" value="0.35" />

    <!-- These parameters are borrowed from the urcontrol.conf file
        but are not verified for the correct permutation.
        The permutation was guessed by looking at the ur5e parameters.
        Serious use of these parameters needs further inspection. -->
    <xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
    <xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
    <xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
    <xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
    <xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
    <xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />

    <!-- Kinematic model -->
    <!-- Properties from urcontrol.conf -->
    <xacro:property name="d1" value="0.152" />
    <xacro:property name="a2" value="-0.244" />
    <xacro:property name="a3" value="-0.213" />
    <xacro:property name="d4" value="0.104" />
    <xacro:property name="d5" value="0.085" />
    <xacro:property name="d6" value="0.092" />

    <!-- Arbitrary offsets for shoulder/elbow joints -->
    <xacro:property name="shoulder_offset" value="0.120" />  <!-- measured from model -->
    <xacro:property name="elbow_offset" value="-0.093" /> <!-- measured from model -->

    <!-- link lengths used in model -->
    <xacro:property name="shoulder_height" value="${d1}" />
    <xacro:property name="upper_arm_length" value="${-a2}" />
    <xacro:property name="forearm_length" value="${-a3}" />
    <xacro:property name="wrist_1_length" value="${d4}" />
    <xacro:property name="wrist_2_length" value="${d5}" />
    <xacro:property name="wrist_3_length" value="${d6}" />

    <link name="${prefix}base_link" >
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/base.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/base.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>
 
    <joint name="${prefix}shoulder_pan_joint" type="revolute">
      <parent link="${prefix}base_link" />
      <child link = "${prefix}shoulder_link" />
      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
      <axis xyz="0 0 1" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}shoulder_link">
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/shoulder.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/shoulder.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>
  

    <joint name="${prefix}shoulder_lift_joint" type="revolute">
      <parent link="${prefix}shoulder_link" />
      <child link = "${prefix}upper_arm_link" />
      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
      <axis xyz="0 1 0" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if> 
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}upper_arm_link">
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/upperarm.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/upperarm.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
        <origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <joint name="${prefix}elbow_joint" type="revolute">
      <parent link="${prefix}upper_arm_link" />
      <child link = "${prefix}forearm_link" />
      <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
      <axis xyz="0 1 0" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.14"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}forearm_link">
      <visual>
         <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/forearm.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/forearm.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}">
        <origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <joint name="${prefix}wrist_1_joint" type="revolute">
      <parent link="${prefix}forearm_link" />
      <child link = "${prefix}wrist_1_link" />
      <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
      <axis xyz="0 1 0" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}wrist_1_link">
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/wrist1.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/wrist1.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
        <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <joint name="${prefix}wrist_2_joint" type="revolute">
      <parent link="${prefix}wrist_1_link" />
      <child link = "${prefix}wrist_2_link" />
      <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
      <axis xyz="0 0 1" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}wrist_2_link">
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/wrist2.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/wrist2.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
        <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <joint name="${prefix}wrist_3_joint" type="revolute">
      <parent link="${prefix}wrist_2_link" />
      <child link = "${prefix}wrist_3_link" />
      <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
      <axis xyz="0 1 0" />
      <xacro:unless value="${joint_limited}">
        <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:unless>
      <xacro:if value="${joint_limited}">
        <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="6.28"/>
        <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
        </xacro:if>
      </xacro:if>
      <dynamics damping="0.0" friction="0.0"/>
    </joint>

    <link name="${prefix}wrist_3_link">
      <visual>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/visual/wrist3.dae"/>
        </geometry>
        <material name="LightGrey">
          <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
      </visual>
      <collision>
        <geometry>
          <mesh filename="package://ur_e_description/meshes/ur3e/collision/wrist3.stl"/>
        </geometry>
      </collision>
      <xacro:cylinder_inertial radius="0.032" length="0.042" mass="${wrist_3_mass}">
        <origin xyz="0.0 ${wrist_3_length - 0.021} 0.0" rpy="${pi/2} 0 0" />
      </xacro:cylinder_inertial>
    </link>

    <joint name="${prefix}ee_fixed_joint" type="fixed">
      <parent link="${prefix}wrist_3_link" />
      <child link = "${prefix}ee_link" />
      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
    </joint>

    <link name="${prefix}ee_link">
      <collision>
        <geometry>
          <box size="0.01 0.01 0.01"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.01 0 0"/>
      </collision>
    </link>

    <xacro:ur_arm_transmission prefix="${prefix}" />
    <xacro:ur_arm_gazebo prefix="${prefix}" />

    <!-- ROS base_link to UR 'Base' Coordinates transform -->
    <link name="${prefix}base"/>
    <joint name="${prefix}base_link-base_fixed_joint" type="fixed">
      <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
      <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
      <parent link="${prefix}base_link"/>
      <child link="${prefix}base"/>
    </joint>

    <!-- Frame coincident with all-zeros TCP on UR controller -->
    <link name="${prefix}tool0"/>
    <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
      <parent link="${prefix}wrist_3_link"/>
      <child link="${prefix}tool0"/>
    </joint>

  </xacro:macro>
 <xacro:include filename="$(find ur_e_description)/urdf/d435.urdf.xacro" />
<sensor_d435 parent="upper_arm_link">
    <origin xyz="0.0 0.2 0" rpy="0 0 0"/>
  </sensor_d435>
</robot>

[callum-sh]

Given all this, how can someone simulate the output of the camera as well? Right now, when trying to start the ros node, I keep getting the following:

[realsense2_camera_node-5] [WARN] [1698195013.653152008] [camera.camera]: No RealSense devices were found!