In, ROS2-Foxy realsense_gazebo_plugin shut down gazebo simulator..

[dmxwk98]

hello
i really appreciate Sharing this project!

but, this plugin not work for me.

My Env. ROS2-Foxy, Gazebo 11.x

i just build using command 'colcon build' this package

and

cd {build_directory} (For finding .so plugin file)

and

export GAZEBO_PLUGIN_PATH=`pwd`:$GAZEBO_PLUGIN_PATH

finally, i turn on the gazebo with camera sdf file

but a few second ago gazebo shut down..

Can you please tell me how to do it right?

below code is the sdf file

<?xml version="1.0"?>
<sdf version="1.7">
  <model name="realsense_d455">
    <pose>0 0 0.035 0 0 3.14159265359</pose>
    <static>true</static>
    <link name="link">
      <inertial>
        <pose>0.1 0.025 0.025 0 0 0</pose>
        <mass>0.077</mass>
        <inertia>
          <ixx>0.003881243</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000498940</iyy>
          <iyz>0</iyz>
          <izz>0.003879257</izz>
        </inertia>
      </inertial>
     <visual name="visual">
      <pose>-0.01 0 0 1.57079632679 0 1.57079632679</pose>
        <geometry>
          <mesh>
            <uri>model://realsense_d455/mesh/realsense_d455.obj</uri>
            <scale>0.001 0.001 0.001 </scale>
          </mesh>
          <material>
            <script>
              <name>Gazebo/White</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </geometry>
      </visual>
      <sensor name="cameradepth" type="depth">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.100</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameracolor" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>RGB_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <visualize>1</visualize>
      </sensor>
      <sensor name="cameraired1" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
      <sensor name="cameraired2" type="camera">
        <camera name="camera">
          <horizontal_fov>1.57</horizontal_fov>
          <image>
            <width>1280</width>
            <height>720</height>
            <format>L_INT8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.05</stddev>
          </noise>
        </camera>
        <always_on>1</always_on>
        <update_rate>1</update_rate>
        <visualize>0</visualize>
      </sensor>
    </link>
    <joint name="realsense_joint" type="fixed">
      <parent>base_link</parent>
      <child>realsense_link</child>
      <pose>0.4 0 0.4 0 0 0</pose>
    </joint>

    <plugin name="camera" filename="librealsense_gazeasdabo_plugin.so">
      <prefix>camera</prefix>
      <depthUpdateRate>30.0</depthUpdateRate>
      <colorUpdateRate>30.0</colorUpdateRate>
      <infraredUpdateRate>1.0</infraredUpdateRate>
      <depthTopicName>aligned_depth_to_color/image_raw</depthTopicName>
      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
      <colorTopicName>color/image_raw</colorTopicName>
      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
      <colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
      <depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
      <infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
      <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
      <rangeMinDepth>0.3</rangeMinDepth>
      <rangeMaxDepth>3.0</rangeMaxDepth>
      <pointCloud>true</pointCloud>
      <pointCloudTopicName>depth/color/points</pointCloudTopicName>
      <pointCloudCutoff>0.3</pointCloudCutoff>
  </plugin>
  </model>
</sdf>