Adding a camera to a model in sitl_gazebo

Hello everyone,

I am working on a project where I am trying to open multi vehicles (planes) on Gazebo simulation with PX4. I achieved opening planes through multi_uav_mavros_sitl.launch file by setting the model as plane in launch file. I also discovered that plane_cam model offers a plane with a camera; however, it is not possible to add it to the launch file I mentioned above as a model. So, I inspected the sdf file of plane_cam to add the geotagged camera as plugin to plane.sdf file of plane model. I followed steps mentioned in Gazebo website, I added necessary lines, then launched the multi_uav….launch file, but there are planes without cameras. There comes my question: how can I add camera plugin to a PX4 model in Gazebo?

I am using:

  • PX4 stable release
  • Ubuntu 20.04
  • ROS Noetic

I really appreciate if you can help me.