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I'm now working on tum_simulator for Indigo and I'm seeing exactly the same problem. After some onion peeling, I found several things:

(1) The cameras are spawned successfully for each AR-Drone

(2) The other sensors and state controller aren't spawned correctly and that explains the behavior mentioned above

I wonder if this is some issue of the specific gazebo plugins (all taken from the hector quadrotor projects, except the camera plugin) or maybe they're just not instantiated correctly in the URDF files.

Any direction for debugging this will help.