# 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:** 22

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**Author:** ![AlexWUrobot](https://discuss.px4.io/user_avatar/discuss.px4.io/alexwurobot/32/11387_2.png) [@AlexWUrobot](https://discuss.px4.io/u/AlexWUrobot)\
**Post date:** [July 28, 2023, 8:17pm UTC](https://discuss.px4.io/t/how-to-add-a-ros-camera-to-iris-for-gazebo-simulation/5118/22 "2023-07-28T20:17:21Z")

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Recently, I tried to add a camera in the same way on Ubuntu 20.04.  
and then running **DONT\_RUN=1 make px4\_sitl\_default gazebo-classic** in the [PX4-autopilot.](https://docs.px4.io/main/en/simulation/ros_interface.html)

 ![image](https://discuss.px4.io/uploads/default/original/2X/3/3b217b7a7d81b0eba9c5e287cbe922218521f9cb.png)

Although the camera is successfully added, the camera does not has “frame\_id”.  
Since it lacks “frame\_id”, the [ar\_track\_alvar](http://wiki.ros.org/ar_track_alvar) package cannot work

 ![image](https://discuss.px4.io/uploads/default/original/2X/e/ee93689542ca9f276704667681d4e2de6c120f4c.png)  
In ubuntu 18.04, the frame\_id is **iris/**

ref: [Adding a camera to IRIS base model](https://discuss.px4.io/t/adding-a-camera-to-iris-base-model/17719)

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