Adding Camera Plugin to Gazebo Garden

shemshamerr · October 11, 2024, 7:45am

Hello,

I am trying to add a camera plugin to gazebo garden. which ROS distro is better to use? Are there any github repository for this?

the world I used:

github.com

srmainwaring/SITL_Models/blob/wips/wip-mini-talon/Gazebo/worlds/vtail_runway.sdf

<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="runway">
    <physics name="1ms" type="ignore">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
    </physics>

    <plugin filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>
    <plugin filename="gz-sim-imu-system"
      name="gz::sim::systems::Imu">
    </plugin>

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rhys · October 12, 2024, 7:48pm

The Gazebo models in SITL_Models are independent of ROS. We support Gazebo Garden and Harmonic. Ionic should also work, but is not tested.

If you are using ROS 2 / DDS with ArduPilot then ROS 2 Humble is the supported version.

The details are in the wiki and repo READMEs: ROS 2 — Dev documentation

A 3 DoF gimbal and camera are included in the iris model in ardupilot_gazebo. The same approach may be used to attach the camera to the mini-talon or any other model.

shemshamerr · October 13, 2024, 2:00pm

Hey @rhys, thanks for your guide,

I installed succesfully until last step, in the last step I get screen freeze (same topic:Colcon build --packages-up-to ardupilot_gz_bringup screen freeze - #3 by shemshamerr) I use 22.04 ubuntu. I have 16gb ram, 45 gb available space and ryzen7 7860 processor. I didn’t create a swap area during ubuntu installation. Any help would be great for me, thanks

shemshamerr · October 13, 2024, 3:08pm

Got it, I needed to create swap area

here is the code for 16gb swap area:

sudo fallocate -l 16G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile
sudo swapon --show