IRIS Camera feed on ROS2

ROS / MAVROS / MicroDDS
1

Hi,
I want to update my IRIS Quad in SITL by adding a few cameras in each direction and one facing downward. I’ve gone through multiple other posts on the same topic, to add the camera plugin code above the imu code in the .sdf file. Now how do I view the camera feed?

I’m running ROS2 Foxy on Ubuntu 20.04 (ROS1 not installed) and I plan to solely work on ROS2.

2

Is within gazebo not enough? If not, you have to make sure that all cameras stream their videos on different udp ports and you should be able to view them with a simple GStreamer pipeline like gst-launch-1.0 udpsrc port=5600 ! 'application/x-rtp, payload=96' ! rtph264depay ! decodebin ! autovideosink