how do I add a range finder sensor like a sonar, IR sensor or a laser to the iris copter?
I've been able to add a camera by adding a
xacro:camera_macro section to
iris_base.xacro, but there does not seem to be a macro for any distance measurement sensor.
Docs about simulation with gazebo mention
make posix gazebo_iris_opt_flow, which I figure could enable the px4flow sonar, but I need to start the simulation with MAVROS capabilities, i.e.
roslaunch px4 mavros_posix_sitl.launch.
Any help is appreciated.