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I think you could add a camera sensor to your robot model, and through a Gazebo sensor plugin (see here for API reference), extract the camera data during your simulation.

If it is just for visualization purpose (no need to extract camera data), you can make the user camera follow a model by right-clicking on it and chossing Follow (source : here "In the Gazebo window, right click on the model and press Follow. The user camera will follow the plane during the flight and you will not loose it.")

Hope this helps!