I’m currently working with a SITL (Software-In-The-Loop) setup that includes Gazebo Garden, ROS 2, and ArduPilot, running on Ubuntu 22.04. For ground control, I’m using QGroundControl as the base station.
Everything is functioning correctly, and I launch the simulation using the following command:
ros2 launch ardupilot_gz_bringup iris_runway.launch.py
However, the default model being used is iris_with_gimbal, and for my application, I don’t require a gimbal. What I need is a front-facing camera mounted on the Iris drone, angled slightly downward—just enough to get a clear view ahead and below the drone during flight.
At the moment, I don’t have extensive experience with SDF (Simulation Description Format) files or how to modify them. If there’s an existing model that better suits this use case, or if someone could guide me through adjusting the camera configuration in the SDF file, that would be incredibly helpful.
Any insights or pointers would be greatly appreciated—thank you in advance!