Rostopic echo /mavros/camera/image_captured, no image

[AlexWUrobot]

I successfully catkin build and run roslaunch px4 mavros_posix_sitl.launch
However, when I rostopic echo /mavros/camera/image_captured
There is no image.
However, there is video in gazebo simulation

Thank you very much for the help

[Jaeyoung-Lim]

@AlexWUrobot I think what you see is not the image, but the video stream of the camera being rendered. Are you sure you have taken an image on the vehicle?

[AlexWUrobot]

Thank you very much for the reply.
I want to track a QRcode and land on a marker, like this GitHub - mzahana/mavros_apriltag_tracking: This package implements methods to enable a PX4-powered multi-rotor to track a moving vehicle.

However, the /mavros/camera/image_captured, does not publish ,
I also try to use the command
make px4_sitl_default gazebo_plane_cam
according to this link: Gazebo Simulation | PX4 User Guide
However, it will generate error like this:

It looks like that make px4_sitl_default gazebo_plane_cam interrupt the roslaunch px4 mavros_posix_sitl.launch
Because the terminal where roslaunch px4 mavros_posix_sitl.launch ran stops suddenly, when px4_sitl_default gazebo_plane_cam ran in another terminal.

I also try another way, by adding one more camera, according to : GitHub - mzahana/mavros_apriltag_tracking: This package implements methods to enable a PX4-powered multi-rotor to track a moving vehicle.

However, the new camera /cgo3_camera/image_raw still does not publish anything

However, you can find there is a car in my simulation video, when run roslaunch mavros_apriltag_tracking tracker.launch

I also try make px4_sitl gazebo_typhoon_h480, according to Gazebo Simulation | PX4 User Guide

but there is still no video and no rostopic

Thanks a lot again for your help and reply. Happy thanksgiving ^^

[AlexWUrobot]

I find a work around by adding one camera in the file typhoon_h480.sdf directory: /home/user_name/px-ws/src/PX4-Autopilot/Tools/sitl_gazebo/models/typhoon_h480

         <plugin name="cgo3_camera_controller" filename="libgazebo_ros_camera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>20.0</updateRate>
          <cameraName>cgo3_camera</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>cgo3_camera_optical_frame</frameName>
          <hackBaseline>0.0</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>

reference IRIS:

How to add a ROS camera to IRIS for gazebo simulation?

I figured it out. The correct way to use a ROS camera on the Iris is to make use of the https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/component_snippets.xacro macros and place the camera in https://github.com/PX4/sitl_gazebo/blob/master/models/rotors_description/urdf/iris_base.xacro and place it above the ADIS16448 IMU [image] Then you can see multiple UAVs in gazebo [image] Then you can view them in rviz like below [image] Hope this helps, if anyone …

Then I can get the camera data by
In the first terminal:
cd px-ws/
roslaunch px4 mavros_posix_sitl.launch
In the second terminal:
rostopic echo /cgo3_camera/image_raw

In the third camera:
rqt_image_view