How to add a depth camera on IRIS for gazebo simulation?

#1

I want to add a depth camera ,like kinect or intel realsense r200, on IRIS for gazebo simulation .
I’ve already realize adding a ROS camera on IRIS as mentioned in How to add a ROS camera to IRIS for gazebo simulation?
What should I do ?

#2

in the avoidance repo, we have a launchfile to run avoidance in SITL using iris with a depth camera.


you can use that one as an example