Need help with fitting a 3d gimbal to an iris

I’ve been working on a project where I need to SLAM a unknown environment, I’ve done it with LiDAR, but I need a depth cam for my next algorithm. I’ve been working with the rotors_description (so with urdf/xacro files), I’ve managed to get the depth cam working and all, but the SLAM I’m implementing doesn’t use the IMU of the drone. So when I fly, SLAM displays the pointcloud tilted. I thought if I implement a gimbal, the camera would stay stable and slam would work properly. Has anybody done this without sdf files? If so, how?
Thanks! :slight_smile:

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