Typhoon H480 urdf file or xacro file available?


I am trying to use The typhoon h480 for the multivehicle simulation where iris is being used currently. Reason being i need the gimballed camera that is mounted on the typhoon.

Sadly, I cannot use the typhoon in multivehicle simulations since its model file is in sdf format and multivehicle simulations need xacro files for ease of initialization of variables.

I checked out @Jaeyoung-Lim 's human tracking example too, but its for a single vehicle.

I am also conflicted with the direction that I am taking. Should i continue pursuing the typhoon’s xacro file or should I add a gimbal camera xacro macro to iris_base?

Can anybody please point me in the right direction?


@swaroophangal Maybe you can work with @Jaroan to get this working: https://github.com/PX4/sitl_gazebo/issues/540

Thanks @Jaeyoung-Lim. Will move this discussion to Github.