How to add a ROS camera to IRIS for gazebo simulation?

[kiranarcot]

I figured it out. The correct way to use a ROS camera on the Iris is to make use of the

https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/component_snippets.xacro

macros and place the camera in

https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/iris_base.xacro

and place it above the ADIS16448 IMU

Then you can see multiple UAVs in gazebo

Then you can view them in rviz like below

Hope this helps, if anyone is looking for this.