Need help with integrating camera to PX4 gazebo simulation

ROS 1 / ROS 2
1

Hello, I have been trying to run a gazebo simulation where in I initiate a landing seqeunce after detecting a apriltag in FOV. For now, I have the basic of the detections down and it works with my webcam even.

I am not able to get anything from /camera_sensor/image and I am out of ideas at this point. Any help would be appreciated!

Useful data:

  • gz topic -l shows existence of /world/april/model/x500_mono_cam_down_0/link/camera_link/sensor/camera_sensor/camera_info and /world/april/model/x500_mono_cam_down_0/link/camera_link/sensor/camera_sensor/image`. unf there’s no data output from these topics.
  • model.sdf

I was thinking that something could be wrong with the bridge (ros2 run ros_gz_bridge parameter_bridge /world/april/model/x500_mono_cam_down_0/link/camera_link/sensor/camera_sensor/image@sensor_msgs/msg/Image[ignition.msgs.Image) but the topic doesn’t even give out any data to begin with.

Thank you :slight_smile:

2

solved! basically look into ros gazebo bridge ans try to figure out from there. gz topic -l and echo and info would help you. figure out your camera topic. some useful cmds:

gz topic -i -t /world/april/model/x500_mono_cam_down_0/link/camera_link/sensor/camera_sensor/image

ros2 run ros_gz_bridge parameter_bridge   /world/april/model/x500_mono_cam_down_0/link/camera_link/sensor/camera_sensor/image@sensor_msgs/msg/Image@gz.msgs.Image

ros2 run rqt_image_view rqt_image_view