Topics prefixed with camera_name

config/realsense_d435_depth_sim_config.yaml

-rate: 60.0
+rate: 10.0
 horizontal_fov: 1.047
-image_width: 640
-image_height: 480
+image_width: 1280
+image_height: 720
 image_format: 'R8G8B8'
 clip_near: 0.2
 clip_far: 100.0
 noise_type: 'gaussian'
 noise_mean: 0.0
 noise_stddev: 0.007
-image_topic_name: '/camera/color/image_raw'
-camera_info_topic_name: '/camera/color/camera_info'
-depth_image_topic_name: '/camera/depth/image_rect_raw'
-point_cloud_topic_name: '/camera/depth_registered/points'
-depth_image_camera_info_topic_name: '/camera/depth/camera_info'
+#camera_name passed in xacro is added as prefix to the following topics
+image_topic_name: 'color/image_raw'
+camera_info_topic_name: 'color/camera_info'
+depth_image_topic_name: 'aligned_depth_to_color/image_raw'
+point_cloud_topic_name: 'aligned_depth_to_color/points'
+depth_image_camera_info_topic_name: 'aligned_depth_to_color/camera_info'
 point_cloud_cut_off: 0.4
 hack_baseline: 0.007
 cx_prime: 0.0

launch/realsense_d435_depth_sim.launch

@@ -21,7 +21,7 @@
   </include>
 
   <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_realsense_camera_description)/urdf/realsense_example.xacro' name:=$(arg node_name)" />
+         command="$(find xacro)/xacro --inorder '$(find iri_realsense_depth_description)/urdf/realsense_example.xacro' name:=$(arg node_name)" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="realsense_tf_broadcaster">
     <param name="tf_prefix" type="string" value="$(arg node_name)"/>

urdf/realsense.gazebo

@@ -33,11 +33,11 @@
           <updateRate>${properties['rate']}</updateRate>
           <cameraName>${name}</cameraName>
           <frameName>${name}_color_optical_frame</frameName>
-          <imageTopicName>${properties['image_topic_name']}</imageTopicName>
-          <cameraInfoTopicName>${properties['camera_info_topic_name']}</cameraInfoTopicName>
-          <depthImageTopicName>${properties['depth_image_topic_name']}</depthImageTopicName>
-          <pointCloudTopicName>${properties['point_cloud_topic_name']}</pointCloudTopicName>
-          <depthImageCameraInfoTopicName>${properties['depth_image_camera_info_topic_name']}</depthImageCameraInfoTopicName>
+          <imageTopicName>/${name}/${properties['image_topic_name']}</imageTopicName>
+          <cameraInfoTopicName>/${name}/${properties['camera_info_topic_name']}</cameraInfoTopicName>
+          <depthImageTopicName>/${name}/${properties['depth_image_topic_name']}</depthImageTopicName>
+          <pointCloudTopicName>/${name}/${properties['point_cloud_topic_name']}</pointCloudTopicName>
+          <depthImageCameraInfoTopicName>/${name}/${properties['depth_image_camera_info_topic_name']}</depthImageCameraInfoTopicName>
           <pointCloudCutoff>${properties['point_cloud_cut_off']}</pointCloudCutoff>
           <hackBaseline>${properties['hack_baseline']}</hackBaseline>
           <CxPrime>${properties['cx_prime']}</CxPrime>