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Adding Intel D415 in ROS urdf

asked 2018-06-01 01:34:07 -0500

saurabh gravatar image

Hello All,

I am having an Intel D415 camera, that I want to add to my robot. There are 3 options that I have seen so far:

  1. Add a link in URDF to name as camera, then call the camera launch file in your .launch file. And replace the frame_id for RGB and depth as per your link names in URDF. I tried that, but it is asking for defining the camera_base_link also. And that I can't set as my own base_link in URDF, as I want the camera_base_link to be some other link.

  2. There is another method looking to me, i.e. to use openni to replace the frame id's. This has been suggested in this link. I am going to try this. Can somebody give some opinion about this.

  3. There is another method, in which we can add a sensor in the URDF with tag name <sensor>. But I have found maximum of implementation with Gazebo only. Is it also possible to use <sensor> tag without Gazebo also. And calling the camera .so file, with passing the parameters in URDF itself.

Can somebody please suggest which one is better to use. And pros and cons of those.

Regards, Saurabh

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answered 2018-06-01 02:17:25 -0500

saurabh gravatar image

updated 2018-06-02 10:24:50 -0500

Just came to know, Realsense can't be used with OpenNI . So 2nd option is ruled out.

Then I tried again the very 1st method, i.e. to add the required links in the URDF and launch the camera node separately. I got help from this link. It finally worked with below changes:

Adding 5 links in URDF as below:

1. camera_link
2. camera_depth_frame
3. camera_color_frame
4. camera_depth_optical_frame
5. camera_color_optical_frame

And one more change, I added one nodelet in camera launch file, which is as below:

<!-- Start nodelet manager -->
    <node pkg="nodelet" 

With these changes, I was able to get point clouds in RViz with moveit environment.

Please let me know, if somebody face problem with integrating Intel Camera.


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im trying to do the same to use intel camera with gazebo , but it seem i can't find a Urdf source on how to use Realsense gazebo plugin (

q8wwe gravatar image q8wwe  ( 2020-03-02 06:07:57 -0500 )edit

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Asked: 2018-06-01 01:34:07 -0500

Seen: 1,134 times

Last updated: Jun 02 '18