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Plugin for Intel RealSense LiDAR Camera L515 sensor to be used with ROS. This is a new sensor from Intel.

asked 2020-09-15 23:08:47 -0600

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I am trying to create a plugin for Intel RealSense LiDAR Camera L515 sensor to be used with ROS. I have not found a plugin for this sensor online yet, although I was able to find plugins for other RealSense sensors from Intel.. Since L515 sensor packages a camera and a lidar together, I was wondering if I could simply combine the pre-exisitng plugins, gazebo_ros_laser.cpp and gazebo_ros_camera.cpp into a single cpp file to create a new plugin. I will obviously have to change the parameters to match the specifications of the actual sensor . But I would like to ask if I am headed in the right direction.

Or is creating a plugin for a new sensor a more complicated task, meaning I will need to develop the message type and viisualizer for this sensor to be integrated with ROS.


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I am trying to find a plugin for LiDAR Camera L515 but I cannot find it as well. I was wondering have you implemented it? and if you did, would you mind sharing your progress?

yomna gravatar imageyomna ( 2020-12-07 13:46:57 -0600 )edit

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answered 2020-09-16 05:58:16 -0600

nlamprian gravatar image

You are free to do anything you want in the plugins. So, yes, you could combine the 2 sensors in a new plugin. But you have to ask what would be the benefit of that?

If there is no particular reason for writing a new plugin, I would suggest that you configure the 2 sensors, and then create a xacro macro. The macro would have the name of the real sense camera, add both sensors, but externally treat them as one unit.

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@ nlamprian Thanks. I will try to do as your suggested.

PKGosal gravatar imagePKGosal ( 2020-09-16 22:36:10 -0600 )edit
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Asked: 2020-09-15 23:08:47 -0600

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Last updated: Sep 16 '20