Im trying to use intel D400 with gazebo simulation on ROS Kinetic / Ubuntu 16.04. So far I have been using the OpenNI Kinect plugin (libgazeborosopenni_kinect.so).

I found there is a Realsense plugin for Gazebo (librealsensegazeboplugin.so). I am not sure how to replace the openni_kinect plugin with it in my URDF file, considering that the Realsense has two infrared cameras and an RGB camera.

I want to experiment with the Realsense in simulation before shifting to the real camera. I would like to work with depth images and point clouds for my application. First by using the depthimagetolaserscan package and later the point clouds for obstacle avoidance. Thanks in advance.

Here is how I currently use the OpenNI Kinect plugin in URDF:

            <link name="camera_link">
          <visual>
            <origin xyz="0.0 0.0 0.004" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/kinect.dae" scale="0.9 0.9 0.9"/>
            </geometry>
          </visual>
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
            <geometry>
                <box size="0.0730 0.2760 0.0720"/>
            </geometry>
          </collision>
          <inertial>
            <mass value="0.170" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.001152600" ixy="0.0" ixz="0.0"
                     iyy="0.000148934" iyz="0.0"
                     izz="0.001154654" />
          </inertial>
        </link>
        <joint name="camera_rgb_joint" type="fixed">
          <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
          <parent link="camera_link"/>
          <child link="camera_rgb_frame" />
        </joint>
        <gazebo reference="camera_link">
            <material>Gazebo/FlatBlack</material>
        </gazebo>
        <link name="camera_rgb_frame"/>
        <joint name="camera_rgb_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_rgb_frame" />
          <child link="camera_rgb_optical_frame" />
        </joint>
        <link name="camera_rgb_optical_frame"/>
        <joint name="camera_joint" type="fixed">
          <origin xyz="0.17 0.0 0.1913" rpy="0.0 0.0 0.0"/>
          <parent link="base_link"/>
          <child link="camera_link"/>
        </joint>
        <joint name="camera_depth_joint" type="fixed">
          <origin xyz="0 -0.045 0" rpy="0 0 0" />
          <parent link="camera_link" />
          <child link="camera_depth_frame" />
        </joint>
        <link name="camera_depth_frame"/>
        <joint name="camera_depth_optical_joint" type="fixed">
          <origin xyz="0 0 0" rpy="-1.57079632679 0 -1.57079632679" />
          <parent link="camera_depth_frame" />
          <child link="camera_depth_optical_frame" />
        </joint>
        <link name="camera_depth_optical_frame"/>
         <!--  Asus mount  -->
        <joint name="mount_asus_xtion_pro_joint" type="fixed">
          <origin xyz="0.1685 -0.0050 0.1563" rpy="1.57079632679 0 -1.57079632679"/>
          <parent link="base_link"/>
          <child link="mount_asus_xtion_pro_link"/>
        </joint>  
        <link name="mount_asus_xtion_pro_link">
<!--          <visual>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
              <mesh filename="package://evarobotmodel_description/meshes/asus_base.dae"/>
            </geometry>
            <material name="Black"/>
          </visual>  -->
          <collision>
            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
          <geometry>
            <box size="0.2760 0.0330 0.0120"/>
          </geometry>
          </collision>
          <inertial>
            <mass value="0.170" />
            <origin xyz="0 0 0" />
            <inertia ixx="0.001152600" ixy="0.0" ixz="0.0"
                     iyy="0.000148934" iyz="0.0"
                     izz="0.001154654" />
          </inertial>
        </link>
        <gazebo reference="mount_asus_xtion_pro_link">
            <material>Gazebo/FlatBlack</material>
        </gazebo>
        <gazebo reference="camera_link">  
          <sensor type="depth" name="camera">
            <always_on>true</always_on>
            <update_rate>20.0</update_rate>
            <camera>
              <horizontal_fov>1.0471975512</horizontal_fov>
              <image>
                <format>R8G8B8</format>
                <width>640</width>
                <height>480</height>
              </image>
              <clip>
                <near>0.05</near>
                <far>8.0</far>
              </clip>
            </camera>
            <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
              <robotNamespace>/</robotNamespace>
              <cameraName>camera</cameraName>
              <alwaysOn>true</alwaysOn>
              <updateRate>10</updateRate>
              <imageTopicName>rgb/image_raw</imageTopicName>
              <depthImageTopicName>depth/image_raw</depthImageTopicName>
              <pointCloudTopicName>depth/points</pointCloudTopicName>
              <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
              <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
              <frameName>camera_depth_optical_frame</frameName>
              <baseline>0.1</baseline>
              <pointCloudCutoff>0.4</pointCloudCutoff>
              <distortionK1>0.00000001</distortionK1>
              <distortionK2>0.00000001</distortionK2>
              <distortionK3>0.00000001</distortionK3>
              <distortionT1>0.00000001</distortionT1>
              <distortionT2>0.00000001</distortionT2>
              <CxPrime>0</CxPrime>
              <Cx>0</Cx>
              <Cy>0</Cy>
              <focalLength>0</focalLength>
             <hackBaseline>0</hackBaseline>
            </plugin>
          </sensor>