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

**URL:** <https://discuss.px4.io/t/how-to-add-a-ros-camera-to-iris-for-gazebo-simulation/5118>\
**Category:** PX4 Autopilot\
**Created:** [December 12, 2017, 10:14pm UTC](https://discuss.px4.io/t/how-to-add-a-ros-camera-to-iris-for-gazebo-simulation/5118 "2017-12-12T22:14:20Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![kiranarcot](https://discuss.px4.io/letter_avatar_proxy/v4/letter/k/53a042/32.png) [@kiranarcot](https://discuss.px4.io/u/kiranarcot)\
**Post date:** [January 19, 2018, 6:48pm UTC](https://discuss.px4.io/t/how-to-add-a-ros-camera-to-iris-for-gazebo-simulation/5118/2 "2018-01-19T18:48:25Z")

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

and place it above the ADIS16448 IMU

 ![](https://discuss.px4.io/uploads/default/original/2X/9/9aec063c39b12dc88065153949a4c2cfe0ac3ff0.PNG)

Then you can see multiple UAVs in gazebo

 ![](https://discuss.px4.io/uploads/default/original/2X/b/ba409c4cecce74ac8da6d14983c6b72a32e5b78f.png)

Then you can view them in rviz like below

 ![](https://discuss.px4.io/uploads/default/original/2X/1/1fcc5bc4140a1bb0463d1793d8b966cf20f6e9c6.png)

Hope this helps, if anyone is looking for this.

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