Turtlebot3 Waffle Gazebo Model with Depth Camera Plugin

This is the Gazebo ROS2 camera plugin enabled version of Turtlebot 3 Waffle Gazebo model.

RGB Image
Depth Image
Point Cloud

Tested using Gazebo 9 and ROS2 Dashing.

Requirements

Install ROS2
Install Gazebo
- curl -sSL http://get.gazebosim.org | sh
Install Gazebo ROS2 Packages
- sudo apt install ros-<ros2_distro>-gazebo-*
Source setup.bash in the ROS2 installation directory
- source /opt/ros/<ros2_distro>/setup.bash
Clone the repository and copy turtlebot3_waffle into .gazebo/models directory. It is located in the /home directory or where you store your model files such turtlebot3_simulation/turtlebot3_gazebo/models
Use the urdf with robot state publihser or replace the description file in turtlebot3_description/urdf with this urdf file.

RealSense Camera Topic Names

/intel_realsense_r200_depth/camera_info_raw
/intel_realsense_r200_depth/depth/camera_info
/intel_realsense_r200_depth/depth/image_raw
/intel_realsense_r200_depth/image_raw
/intel_realsense_r200_depth/points
/intel_realsense_r200_rgb/camera_info
/intel_realsense_r200_rgb/image_raw

Camera Frame Names:

realsense_depth_frame
raelsense_rgb_frame

Point Cloud, Turtlebot 3 Robot Model, and Map in Rviz

Turtlebot 3 with Intel RealSense in Turlebot World in Gazebo

Point Cloud view in Rviz