How do I get the d435i realsense camera into a gazebo simulation to test autonomous navigation?

[sshah53]

I need to simulate a collision avoidance algorithm within gazebo. I'm kind of getting confused with ROS, rviz, gazebo plugins and everything. I can get a running instance of gazebo with a rover and SITL with a MAV command prompt in the terminal.

I've also been looking into https://github.com/buzzr6/collision-avoidance-library and was wondering does this contain obstacle avoidance or allows the user to test their own?

Thanks!

[MartyG · Accepted solution]

When a D435 user on the RealSense ROS GitHub site asked about how to do obstacle avoidance with D435 and Gazebo, the link below was recommended to them:

​http://gazebosim.org/tutorials?tut=ros_depth_camera&cat=connect_ros