Simulation of the Realsense R200 sensor in Gazebo.
This package is used to obtain color and depth image and depth registered points from a RS200 camera attached to the wrist of a Franka Emika Panda Robot.
Added the Realsense xacro to the Panda xacro in franka_description
Generated a point cloud from the depth image by running
roslaunch realsense_gazebo_plugin depth_proc.launch
No need to launch seperately. Already added to the simulation launch file in panda_simulation
Add PointCloud2 in Rviz and select topic as shown in the image below
The point cloud data obtained from the camera can be saved as an .obj file by running
rosrun src/SavePointCloud.cpp
This is a modified and updated version of the work done by SyrianSpock