[Err] [SystemLoader.cc:92] Failed to load system plugin [librealsense_gazebo_plugin.so] : Could not find shared library.

[arambarricalvoj]

Hi,

How can I start the camera plugin? Do I have to change the URDF and use a standard camera with ros_gz_bridge insteado of RealSense official plugin?

This error arises when running: ros2 launch xarm_gazebo xarm6_beside_table_gazebo.launch.py add_realsense_d435i:=true, as it seems that RealSense plugin is not supported in ROS2 Jazzy.

Thanks!

[vimior]

@arambarricalvoj
Hello, the realsense_gazebo_plugin is not currently supported.
As you mentioned, or you could try this, but we haven't tested it ourselves.

[arambarricalvoj]

@arambarricalvoj Hello, the realsense_gazebo_plugin is not currently supported. As you mentioned, or you could try this, but we haven't tested it ourselves.

So, in order to use a camera in Gazebo, do I have to modify the urdf/xacro files to run the camera plugin for Gazebo Harmonic? Did you develop something similar or, at this moment, there's not an official guide to use camera in your repo? It would save me development time if someone has already done it!

Thanks in advance!!!

[vimior]

@arambarricalvoj
You can refer to Depth_Camera_Simulation and directly use rgbd_camera to achieve the same result.
The main modifications involve changing the gazebo definition for the camera in the URDF file and the startup parameters for ros_gz_bridge in the launch file.