Controlling gimbal for multiple vehicles using ROS node in SITL

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


TyphoonGimbal1
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 - https://github.com/PX4/sitl_gazebo/pull/469)

TyphoonGimbal2
I am trying to understanding the discussion below, but unsure how to use the mount control to each vehicle separately:

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? :slightly_frowning_face:


TyphoonGimbalJitter