gazebo联合moveit机械臂运动仿真

# Intel RealSense Gazebo/ROS Intel Realsense Tracking and Depth camera simulations and URDF&SDF macros. T265 & D435i ## RealSense T265 ##  ### Usage ### ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/tracker.xacro"/> <xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0"> <origin rpy="0 0 0" xyz="0 0 0.5"/> </xacro:realsense_T265> ``` ### Publishers ### * /camera/**fisheye1**/* * /camera/**fisheye2**/* * /camera/**gyro**/sample _( accel and gyro are in the same imu message )_ * /camera/**odom**/sample ## RealSense R200 ## ### Usage ### ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/> <xacro:realsense_R200 sensor_name="camera" parent_link="base_link" rate="30.0"> <origin rpy="0 0 0" xyz="0 0 0.5"/> </xacro:realsense_R200> ``` ### Publishers ### * /camera/**color**/* * /camera/**depth**/* * /camera/**infra1**/* * /camera/**infra2**/* ## RealSense D435  ### Usage ### * 启动sdf simulation `roslaunch realsense_ros_gazebo simulation_sdf.launch` * 启动xacro simulation `roslaunch realsense_ros_gazebo simulation.launch` #### xacro ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/> <xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10"> <origin rpy="0 0 0 " xyz="0 0 0.5"/> </xacro:realsense_d435> ``` #### sdf ``` <include> <uri>model://realsense_camera</uri> <pose>0.12 0 0.02 1.57 0 1.57</pose> </include> <joint name="realsense_camera_joint" type="fixed"> <child>realsense_camera::camera_link</child> <parent>iris::base_link</parent> <axis> <xyz>0 0 1</xyz> <limit> <upper>0</upper> <lower>0</lower> </limit> </axis> </joint> ``` 其中的iris根据自己的robot model name一致 ### Publishers ### * /camera/**color**/* * /camera/**depth**/* * /camera/**infra1**/* * /camera/**infra2**/*