Rostopic echo /mavros/camera/image_captured, no image

[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