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Multiple Camera Synchronization

Hi all,

I've just started a project where I would like a create a simulation for a cluster of cameras in Gazebo. I have a few requirements for this.

1) The cameras need to be synchronized (perform image acquisition at the same time) 2) I need to be able to move the relative positions (extrinsics) between the cameras dynamically as the simulation runs.

I read through the documentation and saw that what I want would be possible to create by attaching each camera sensor to its own link, however as far as I can tell, in that case the cameras will not have a synchronized shutter. I further read into the Multi Camera plugin, however it says it only supports stereo cameras, and it doesn't look like I can change the position of the cameras dynamically during simulation.

What's the best way to go about this? I'm pretty new to Gazebo, so help is really appreciated! Thanks!