How to add a depth camera on IRIS for gazebo simulation?

tiwe1996 · September 14, 2018, 9:43am

I want to add a depth camera ,like kinect or intel realsense r200, on IRIS for gazebo simulation .
I’ve already realize adding a ROS camera on IRIS as mentioned in How to add a ROS camera to IRIS for gazebo simulation?
What should I do ?

baumanta · September 17, 2018, 3:23pm

in the avoidance repo, we have a launchfile to run avoidance in SITL using iris with a depth camera.

github.com

PX4/avoidance/blob/master/local_planner/launch/local_planner_depth-camera.launch

<launch>

    <arg name="world_file_name"    default="simple_obstacle" />
    <arg name="world_path" default="$(find local_planner)/../sim/worlds/$(arg world_file_name).world" />
    <arg name="pointcloud_topics" default="[/camera/depth/points]"/>

    <!-- Define a static transform from a camera internal frame to the fcu for every camera used -->
    <node pkg="tf" type="static_transform_publisher" name="tf_depth_camera"
          args="0 0 0 -1.57 0 -1.57 fcu camera_link 10"/>

    <!-- Launch PX4 and mavros -->
    <include file="$(find local_planner)/launch/local_planner_sitl_mavros.launch" >
        <arg name="model" value="iris_depth_camera" />
        <arg name="world_path" value="$(arg world_path)" />
    </include>

    <!-- Load custom console configuration -->
    <env name="ROSCONSOLE_CONFIG_FILE" value="$(find local_planner)/resource/custom_rosconsole.conf"/>

    <!-- Launch local planner -->

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you can use that one as an example

zaccer · January 8, 2020, 9:11am

Hey, does the local planner also helps in local position estimation in GPS denied environment?