Hi. I’m trying to add a gimbal and a RGB camera to the IRIS model, for Gazebo simulation (as a pan/tilt camera). I’ve been able to add a camera to the model, in a fixed position with respect to the iris frame.
I need to control the gimbal using (velocity) ros topics, but it would be fine to control directly the orientation of the camera in Gazebo. The first is prefered because after successful simulations I want to try it in field experiments. I also need to get the state of the gimbal from ROS, obviously.
- Is there a way to add a controlled gimbal to the IRIS model and command it from PX4 or from an offboard computer?
- How should I add a pan/tilt camera to the xacro files?
This recent topics are very close to what I pretend:
- Need help with fitting a 3d gimbal to an iris,
- Adding camera to iris drone in gazebo simulation and publish images to ROS topic.
I’ve found this other topics relevant (up to some extent):