Controlling gimbal with ros node in sitl for typhoon h480

Hey all,

I want to control the gimbal mounted on the hexacopter Typhoon H480 in gazebo px4 sitl using a ros node. I have already looked in this documentation for gimbal but it doesn’t tell about controlling using a ros node. I need this for tracking a moving object with the camera on the gimbal. Any help will be appreciated.

Thank you,

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

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Thank you very much!

@Jaeyoung-Lim I went through the example and it is wonderful. I am able to control a single vehicle Typhoon H480 hexacopter’s mounts using the given topic.
I wanted to use the gimbal mechanism on a custom multirotor design and use the gimbal from Typhoon H480’s sdf file following the previous discussion linked below:

However, for multiple vehicles, I wanted help in how 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? I am thankful for any guidance.