Failed to load "libgazebo camera manager_plugin.so" file

PX4 Autopilot Drivers & Sensors 🔧
1

Hi I try to apply camera module into the x500 model to get camera stream data. I added the camera sensor:

<sensor name="camera" type="camera">
    <pose>-0.051 0 -0.162 0 0 3.14159</pose>
    <camera>
      <horizontal_fov>1.0</horizontal_fov>
      <image>
        <format>R8G8B8</format>
        <width>640</width>
        <height>360</height>
      </image>
      <clip>
        <near>0.05</near>
        <far>15000</far>
      </clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>5</update_rate>
    <visualize>true</visualize>
    <plugin name="GstCameraPlugin" filename="libgazebo_gst_camera_plugin.so">
        <robotNamespace></robotNamespace>
        <udpPort>5600</udpPort>
    </plugin>
    <plugin name="CameraManagerPlugin" filename="libgazebo_camera_manager_plugin.so">
      <robotNamespace></robotNamespace>
      <interval>1</interval>
      <width>3840</width>
      <height>2160</height>
    </plugin>
  </sensor>

But at the end I got this error when I try to build it with:

make px4_sitl gz_x500

[Err] [SystemLoader.cc:118] Failed to load system plugin: (Reason: Could not find shared library)
- Requested plugin name: [GstCameraPlugin]
- Requested library name: [libgazebo_gst_camera_plugin.so]
- Library search paths:
  - /home/shen/.gz/sim/plugins/
  - /usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/
  - /home/shen/.ignition/gazebo/plugins/
[Err] [SystemLoader.cc:118] Failed to load system plugin: (Reason: Could not find shared library)
- Requested plugin name: [CameraManagerPlugin]
- Requested library name: [libgazebo_camera_manager_plugin.so]
- Library search paths:
  - /home/shen/.gz/sim/plugins/
  - /usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/
  - /home/shen/.ignition/gazebo/plugins

I am using Ubuntu 22.04 with Gazebo Garden. Can anyone help to figure out how to solve this issue?
Thank you very much.

2

libgazebo_camera_manager_plugin.so is a plugin implemented for gazebo classic, and not the new gazebo

3

Owhh thanks for the reply, does it mean I need to downgrade my ubuntu version to install gazebo classic in order to use this plugin? Or do you have any recommended way to implement the camera sensor on the new gazebo?

I have try the camera sensor from gz::sim::systems::Sensors

<sensor name="camera_sensor" type="camera">
    <camera>
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <width>640</width>
        <height>480</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.01</near>
        <far>100</far>
      </clip>
    </camera>
    <pose>0 0 0.5 0 0 0</pose>
    <update_rate>30</update_rate>
    <always_on>1</always_on>
    <visualize>true</visualize>
  </sensor>

I could get camera stream on Gazebo, but seem no effect on QGroundControl and not able to listen on MavSDK.

4

Gazebo and Gazebo classic are two different simulation frameworks, so the plugins are not compatible.

If you want to use the same plugin in the new gazebo, you need to reimplement the plugin for the new gazebo

5

I see, understand it, thanks you.