Controlling gimbal for multiple vehicles using ROS node in SITL

[Jaroan]

Hello,

I want to control the gimbal of two Typhoon H480 models in a setup using the topic /mavros/mount_control/command. I have understood how to implement it for a single model with help from

Controlling gimbal with ros node in sitl for typhoon h480

Example: https://github.com/Jaeyoung-Lim/mavros_humantracking

For multi-UAV simulation, I tried to extend using the appropriate launch file but I was not able to control the gimbals. They seemed to be unsteady as well (I’m yet to implement this version after the pull request - Fix gimbal jitters by Jaeyoung-Lim · Pull Request #469 · PX4/PX4-SITL_gazebo-classic · GitHub)

I am trying to understanding the discussion below, but unsure how to use the mount control to each vehicle separately:

Multi_uav simulation with using gazebo and ros

You can compare how the sdf files look like as trying out the instructions here without using ROS The sdf files generated will be stored in /tmp/<vehicle_name>.sdf basically you need to configure the mavlink interface plugin : https://github.com/PX4/sitl_gazebo/blob/master/models/typhoon_h480/typhoon_h480.sdf#L1351 to be able to interface with multiple vehicles

But I am unable to move even one vehicle’s gimbal for a multi UAV simulation, like in the case of the single vehicle. Any help and suggestion will be appreciated.

Thank you!

Edit: I tried to implement the changes given in the pull request - but I didn’t find a difference in the jitter. Is there something I’m skipping?
https://github.com/PX4/sitl_gazebo/pull/469