Launching iris_fpv_cam

PX4 Autopilot Multicopter 🛸
1

I’d like to launch the iris_fpv_cam model(iris with a camera). I checked Running the simulation but it is not mentioned.
I tried to follow the same pattern make px4_sitl gazebo_iris_fpv_cam but there is no target for it.

then I tried roslaunch px4 mavros_posix_sitl.launch vehicle:=iris_fpv_cam as suggested in one of the discussions on GitHub
output

Error: Unknown model 'iris_fpv_cam'
ERROR [px4] Startup script returned with return value: 256

I have my px4 sourced in the .bashrc

px4_dir=~/Firmware
source $px4_dir/Tools/setup_gazebo.bash $px4_dir $px4_dir/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir/Tools/sitl_gazebo

I tried a launch file mylaunch.launch

<?xml version="1.0"?>
<launch>
  <include file="$(find px4)/launch/mavros_posix_sitl.launch">
    <arg name="vehicle" value="iris_fpv_cam" />
    <arg name="sdf" value="$(find mavlink_sitl_gazebo)/models/iris_fpv_cam/iris_fpv_cam.sdf"/>
  </include>
</launch>

I sourced my workspace and tried to run I get this error, I think because the source of the workspace override the px4 source mentioned above.

Resource not found: px4
ROS path [0]=/opt/ros/noetic/share/ros
...

Is a way to launch iris_fpv_cam without creating my own launch file

2

@Mohamed_Ahmed iris_fpv_cam model uses a camera model called fpv_cam which uses the gazebo_ros_camera_plugin

Therefore it doesn’t make sense to use that model without using it with roslaunch

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3

I thought that there was a target in the make file as for 3DR iris.
so I think the problem is with defining the environment variable to the models?

4

@Mohamed_Ahmed No, what I meant is that you CANNOT use the iris_fpv_cam model without using ROS.

Therefore it doesn’t make sense to enable the model to work with the make command.

5

I think my problem was about the environment variables.
I tried to launch roslaunch px4 mavros_posix_sitl.launch it gave me errors
After I set them in the .bashrc it worked fine.

px4_dir=~/Firmware
source /opt/ros/noetic/setup.bash
source ~/drone_ws/devel/setup.bash
source $px4_dir/Tools/setup_gazebo.bash $px4_dir $px4_dir/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$px4_dir/Tools/sitl_gazebo
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/lib/x86_64-linux-gnu/gazebo-11/plugins

To launch the iris_fpv_cam, I passed the sdf of my model to the sdf argument
roslaunch px4 mavros_posix_sitl.launch sdf:=~/Firmware/Tools/sitl_gazebo/models/iris_fpv_cam/iris_fpv_cam.sdf

another solution is to create your own launch. It can be like this

<?xml version="1.0"?>
<launch>
    <arg name="vehicle" default="iris"/>
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/iris_fpv_cam/iris_fpv_cam.sdf"/>

    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
        <arg name="respawn_gazebo" value="true"/>
        <arg name="respawn_mavros" value="true"/>
        <arg name="vehicle" value="$(arg vehicle)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="verbose" value="true"/>
    </include>
</launch>

Thank you very much @Jaeyoung-Lim

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