Hello,
I’ve been working on an ArduPilot simulation with Gazebo for a while. I would like to add a camera to the Iris drone model and publish its feed via ROS. However, I haven’t been able to find a clear guide on how to add a camera to the SDF files and how to publish it.
I’m also unsure whether I need to modify other SDF files, such as those of the world or the gimbal, apart from the model’s SDF file.
I’m using Gazebo Harmonic and ROS 2 Jazzy. I believe I’ve already set up the remaining components and connections correctly.
Could you assist me with how to properly implement this?
Hello @Suleyman_Aydik, the default iris model in the latest version of ardupilot_gazebo is equipped with a camera and 3DoF gimbal.
Instructions for streaming data from the camera is described in the project README: GitHub - ArduPilot/ardupilot_gazebo: Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers