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You are only creating the camera links with the sensor_d435 macro, not the sensor itself. To add a camera sensor, you need this.

Here is how the urdf would look like:

<robot name="realsense2_camera" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />

  <sensor_d435 parent="wrist_3_link">
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </sensor_d435>

  <gazebo reference="camera_link">
    <sensor name="camera" type="camera">
      ...
    </sensor>
  </gazebo>
</robot>