Is there any official guidance to simulate D435i in gazebo&RViz?

[JackStig]

Recently I'm working on detecting obstacle by simulating D435i in gazebo and visualizing it on RViz. I've found some useful file on realsense2_description but I have not found overall guidance on it.Now I'm stuck on adding D435i to gazebo,so I want to read some practical urdf file(especially the one simulating with robot arm). Any help will be grateful,thank you.

[MartyG-RealSense]

Intel published a Gazebo plugin for RealSense, though it is a few years old. Looking in the files, it seems that it was intended to simulate the older RealSense R200 stereo camera model.

https://github.com/intel/gazebo-realsense

A RealSense user created their own evolution of this plugin that contains instructions for using it with RViz and URDF. This may provide useful guidance for adapting it for D435i.

https://github.com/SyrianSpock/realsense_gazebo_plugin

[RealSenseCustomerSupport]

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Hi @JackStig,

Any update? I hope the info provided by @MartyG-RealSense resolves your question.

[JackStig]

Hi @MartyG-RealSense @RealSenseCustomerSupport ,
Thanks for your concern,sorry I was too busy to reply you.I find an official annoucement saying that there is no plugin for RViz&Gazebo,while repos in Git are too old to use.So I just give up and devote on something else.

[MartyG-RealSense]

@JackStig Thanks so much for your update. I am sorry that you did not find what you needed.

[sayyidabeegam]

Hello
I want to use D435 with my robot manipulator.
I have gone through above links.
But I don't get any idea to integrate the sensor with my manipulator.
My requirements are
1. I want to attach the D435 with my manipulator's base link
2. want to launch with my manipulator package
3. want to use all available sensor data format.
Please help me to figure it out..
Thanks in advance

[MartyG-RealSense]

Hi @sayyidabeegam I have responded to your question at #1453 (comment) - thanks!

[rickstaa]

I will also put this here for future reference. An example of how to use the D435i camera in Gazebo can be found here, might people need it. A detailed explanation video created by @issaiass can be found here.