英特尔实感跟踪和深度摄像头模拟___下载.zip

# Intel RealSense Gazebo/ROS Intel Realsense Tracking and Depth camera simulations and URDF macros. ## RealSense T265 ##  ### Usage ### ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/tracker.xacro"/> <xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0"> <origin rpy="0 0 0" xyz="0 0 0.5"/> </xacro:realsense_T265> ``` ### Publishers ### * /camera/**fisheye1**/* * /camera/**fisheye2**/* * /camera/**gyro**/sample _( accel and gyro are in the same imu message )_ * /camera/**odom**/sample ## RealSense R200 ##  ### Usage ### ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/> <xacro:realsense_R200 sensor_name="camera" parent_link="base_link" rate="30.0"> <origin rpy="0 0 0" xyz="0 0 0.5"/> </xacro:realsense_R200> ``` ### Publishers ### * /camera/**color**/* * /camera/**depth**/* * /camera/**infra1**/* * /camera/**infra2**/* ## RealSense D435  ### Usage ### ```xml <xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/> <xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10"> <origin rpy="0 0 0 " xyz="0 0 0.5"/> </xacro:realsense_d435> ``` ### Publishers ### * /camera/**color**/* * /camera/**depth**/* * /camera/**infra1**/* * /camera/**infra2**/*