Hi, I’m trying to attach some sensors on Iris.
To do that, I added a small box link because I need a joint between th iris base link.
However after that, px4 can’t hover regardless of the weight of the added link. Below is added part of sdf source code.
<!--add--> <link name = "front_camera"> <inertial> <mass>0.159</mass> </inertial> <pose frame=''>0.1 0 -0.05 0 0 0</pose> <visual name = "front_camera_visual"> <geometry> <box> <size>0.033 0.175 0.03</size> </box> </geometry> </visual> <sensor name='front_stereo_camera' type='multicamera'> <update_rate>60.0</update_rate> <camera name = "left"> <pose>0 0.06 -0.1 0 0 0</pose> <image> <width>1200</width> <height>360</height> <format>R8G8B8</format> </image> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.007</stddev> </noise> </camera> <camera name = "right"> <pose>0 -0.06 -0.1 0 0 0</pose> <image> <width>1200</width> <height>360</height> <format>R8G8B8</format> </image> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.003</stddev> </noise> </camera> <plugin name="front_camera_controller" filename="libgazebo_ros_multicamera.so"> <alwaysOn>true</alwaysOn> <updateRate>0.0</updateRate> <cameraName>front_stereo_camera</cameraName> <imageTopicName>image_raw</imageTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName> <frameName>left_camera</frameName> <rightFrameName>right_camera</rightFrameName> <hackBaseline>0.12</hackBaseline> </plugin> </sensor> </link> <joint name = "front_camera_joint_pitch" type = "revolute"> <child>front_camera</child> <parent>base_link</parent> <axis> <xyz>0 1 0</xyz> <dynamics> <damping>0</damping> <friction>0</friction> </dynamics> <use_parent_model_frame>1</use_parent_model_frame> </axis> </joint> <!--add-->