Add camera to gazebo model iris.sdf

1

hi everyone,
i’m trying to modify the /PX4-Autopilot/Tools/sitl_gazebo/models/iris/iris.sdf in order to add a camera to the model. In the end of the iris.sdf.jinja file i added the following:

<!-- CAMERA -->
<!-- link -->
    <link name='camera_link'>
      <pose frame=''>-0.15 0 0.15 0 1.3 0</pose>

      <visual name='camera_visual'>
        <pose frame=''>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>3.95 0.95 0.95</size>
          </box>
        </geometry>
      </visual>

      <inertial>
        <pose frame=''>0 0 0 0 0 0</pose>
        <mass>0.015</mass>
        <inertia>
          <ixx>1e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-05</iyy>
          <iyz>0</iyz>
          <izz>1e-05</izz>
        </inertia>
      </inertial>

      <sensor type="camera" name="camera1">
        <update_rate>30.0</update_rate>
        <camera name="head">
          <horizontal_fov>1.3962634</horizontal_fov>
          <image>
            <width>800</width>
            <height>800</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.02</near>
            <far>300</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>iris/camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>/camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>

i also delete the iris.sdf file before ‘make_px4_sitl gazebo’ such that the changes are overwritten. The compilation gives no problem, when gazebo starts i can see the ‘camera link’ in the model tree but there is no ‘image_raw’ topic in ros2… i’m doing something wrong?? thanks.

2

You check my repo. We used the iris_fpv_cam model but edited the orientation of the camera.
Note: I’m using ros1

3

You should try to check the published topics by running rostopic list. There should be a topic there with image_raw, maybe not with that exact name, but something similar.