Fix: jazzy/realsense435camera #60
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Pull Request Overview
This pull request enhances simulation support for Intel RealSense D435 cameras by adding new infrared and depth sensor plugins, while also cleaning up legacy code and updating the package version.
- Added three new xacro plugins to the D435 model for improved infrared and depth sensor simulation
- Removed commented-out legacy plugin code from the D435i model to clean up the codebase
- Bumped package version from 2.1.0 to 2.1.1
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| robotnik_sensors/urdf/depth/intel_realsense_d435.urdf.xacro | Added infrared and depth camera plugins for enhanced simulation |
| robotnik_sensors/urdf/depth/intel_realsense_d435i.urdf.xacro | Removed legacy commented plugin code |
| robotnik_sensors/package.xml | Updated package version to 2.1.1 |
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| 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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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" |
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This pull request updates the
robotnik_sensorspackage to add improved simulation support for Intel RealSense depth cameras, particularly by introducing new plugins for infrared and depth sensors in the D435 model's URDF. It also bumps the package version and cleans up legacy plugin code for the D435i model.Simulation plugin enhancements:
<xacro:irred_camera_plugin>instances for theinfra1andinfra2infrared sensors, and a<xacro:depth_camera_plugin>for the depth sensor inintel_realsense_d435.urdf.xacro, improving the simulation fidelity for these sensors.Codebase maintenance:
librealsense_gazebo_plugininintel_realsense_d435i.urdf.xacro, cleaning up the URDF and reducing confusion over simulation methods.Versioning:
2.1.0to2.1.1inpackage.xmlto reflect these changes.