Dear ROS Community,
Recently I have had some initial success in porting Clearpath`s Gazebo Simulator to Gazebo Harmonic as part of few robot control and SLAM projects.
It is still a work in progress and I intended to release it as soon I can iron out a few more bugs. It is directly compatible with ROS 2 Jazzy and with some work, with ROS 2 Humble.
However, a major obstacle in completing the work are the lack of support of realsense_gazebo_plugin and velodyne_simulator packages, both of which provides the necessary assets to simulate a Realsense DS435 camera and Velodyne lidar. Without these, I can only get the robot with odometry simulated.
I have attempted to forward port the realsense_gazebo_plugin to make it compatible with Harmonic but am having a hard time understanding the process.
I have opened a robotics stack exchange post: ros jazzy - Would a Gazebo Harmonic plugin meant to simulate a RGB-D camera inherit from gz::sim::System or gz::sim::Sensors? - Robotics Stack Exchange and my fork of realsense_gazebo_plugin can be found here: GitHub - Mechazo11/realsense_gazebo_plugin: Fork of realsense_gazebo_plugin package from pal-robotics. Tested to be compatible with ROS 2 Jazzy and Gazebo Harmonic
I deeply appreciate any help/collaboration from the veteran ROS users in the community in helping me finish the sensor`s port to Gazebo Harmonic.
Thank you for your time.
With best regards,
Azmyin