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Fix: jazzy/realsense435camera #60

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Fix: jazzy/realsense435camera #60

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cd4280a
feat: add infrared camera plugins and depth camera plugin d435
RomanRobotnik Sep 12, 2025
6d407db
Bump to version 2.1.1
RomanRobotnik Sep 12, 2025
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2 changes: 1 addition & 1 deletion robotnik_sensors/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>robotnik_sensors</name>
<version>2.1.0</version>
<version>2.1.1</version>
<description>Robotnik standard sensors description. URDF and meshses.</description>

<maintainer email="[email protected]">Angel Soriano</maintainer>
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46 changes: 46 additions & 0 deletions robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro
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Expand Up @@ -226,5 +226,51 @@
min_depth="0.1"
max_depth="100"
rate="30" />

<xacro:irred_camera_plugin
node_namespace="${node_namespace}"
node_name="${node_name}_irred1"
topic_prefix="${topic_prefix}_irred1"
gazebo_ignition="${gazebo_ignition}"
optical_frame="${frame_prefix}infra1_optical_frame"
reference_frame="${frame_prefix}infra2_frame"
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Copilot AI Sep 12, 2025

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The reference_frame for the first infrared camera plugin should be ${frame_prefix}infra1_frame not ${frame_prefix}infra2_frame. This inconsistency will cause the infrared sensor to reference the wrong frame.

Suggested change
reference_frame="${frame_prefix}infra2_frame"
reference_frame="${frame_prefix}infra1_frame"

Copilot uses AI. Check for mistakes.
horizontal_fov="85.2"
vertical_fov="48"
video_width="1280"
video_height="720"
min_depth="0.1"
max_depth="100"
rate="30" />

<xacro:irred_camera_plugin
node_namespace="${node_namespace}"
node_name="${node_name}_irred2"
topic_prefix="${topic_prefix}_irred2"
gazebo_ignition="${gazebo_ignition}"
optical_frame="${frame_prefix}infra2_optical_frame"
reference_frame="${frame_prefix}infra2_frame"
horizontal_fov="85.2"
vertical_fov="48"
video_width="1280"
video_height="720"
min_depth="0.1"
max_depth="100"
rate="30" />

<xacro:depth_camera_plugin
node_namespace="${node_namespace}"
node_name="${node_name}_depth"
topic_prefix="${topic_prefix}_depth"
gazebo_ignition="${gazebo_ignition}"
optical_frame="${frame_prefix}depth_optical_frame"
reference_frame="${frame_prefix}depth_frame"
horizontal_fov="85.2"
vertical_fov="48"
video_width="1280"
video_height="720"
min_depth="0.1"
max_depth="100"
rate="30" />

</xacro:macro>
</robot>
26 changes: 0 additions & 26 deletions robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro
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Expand Up @@ -286,32 +286,6 @@
max_depth="100"
rate="30" />

<!-- <gazebo>
<plugin name="${node_name}" filename="librealsense_gazebo_plugin.so">
<prefix>${node_namespace}</prefix>
<depthUpdateRate>60.0</depthUpdateRate>
<colorUpdateRate>60.0</colorUpdateRate>
<infraredUpdateRate>60.0</infraredUpdateRate>
<depthTopicName>${topic_prefix}depth/image_rect_raw</depthTopicName>
<depthCameraInfoTopicName>${topic_prefix}depth/camera_info</depthCameraInfoTopicName>
<colorTopicName>${topic_prefix}color/image_raw</colorTopicName>
<colorCameraInfoTopicName>${topic_prefix}color/camera_info</colorCameraInfoTopicName>
<infrared1TopicName>${topic_prefix}infra1/image_raw</infrared1TopicName>
<infrared1CameraInfoTopicName>${topic_prefix}infra1/camera_info</infrared1CameraInfoTopicName>
<infrared2TopicName>${topic_prefix}infra2/image_raw</infrared2TopicName>
<infrared2CameraInfoTopicName>${topic_prefix}infra2/camera_info</infrared2CameraInfoTopicName>
<colorOpticalframeName>${frame_prefix}color_optical_frame</colorOpticalframeName>
<depthOpticalframeName>${frame_prefix}depth_optical_frame</depthOpticalframeName>
<infrared1OpticalframeName>${frame_prefix}infra1_optical_frame</infrared1OpticalframeName>
<infrared2OpticalframeName>${frame_prefix}infra2_optical_frame</infrared2OpticalframeName>
<rangeMinDepth>0.2</rangeMinDepth>
<rangeMaxDepth>10.0</rangeMaxDepth>
<pointCloud>true</pointCloud>
<pointCloudTopicName>${topic_prefix}depth/color/points</pointCloudTopicName>
<pointCloudCutoff>0.5</pointCloudCutoff>
</plugin>
</gazebo> -->

<!-- Imu -->

<xacro:imu_plugin
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