I’ve tried the Monocular camera, and it works successfully.
I edit the launch file like this:
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="vehicle" default="iris"/>
<!-- add stereo camera for iris -->
<arg name="my_camera" default="iris_fpv_cam"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<!-- also need to revise sdf -->
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
<!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->
then I use rostopic list command, part of topics below:
/iris/usb_cam/camera_info
/iris/usb_cam/image_raw
/iris/usb_cam/image_raw/compressed
/iris/usb_cam/image_raw/compressed/parameter_descriptions
/iris/usb_cam/image_raw/compressed/parameter_updates
/iris/usb_cam/image_raw/compressedDepth
/iris/usb_cam/image_raw/compressedDepth/parameter_descriptions
/iris/usb_cam/image_raw/compressedDepth/parameter_updates
/iris/usb_cam/image_raw/theora
/iris/usb_cam/image_raw/theora/parameter_descriptions
/iris/usb_cam/image_raw/theora/parameter_updates
/iris/usb_cam/parameter_descriptions
/iris/usb_cam/parameter_updates
it works, so I tried the same way on stereo
<arg name="my_camera" default="iris_stereo_camera"/>
then rostopic list
but nothing related to iris or image has shown up, nothing in rqt_image_view either.
I’m confused and don’t know why, I’d thank you for any advice!