Camera Gimbal for Hector/Gazebo

asked 2016-07-26 08:11:34 -0500

naegelit gravatar image

Hi, I'm relativity new to gazebo and working with the hector quadrotor package ( However, for a project i want to add a gimbal camera (roll, pitch,yaw) to the quadrotor. The idea is to be able to send a ros message to move the gimbal.

I'm not sure what is possible and what is the fastest way to have this:

1.Is it possible to send a tf to update the link? i was not abel to do this (nothing moved) 2. Would it be possible to publish on the joint_state_publisher topic? also there, nothing moved. 3. Do i have to actuate the joint where the camera is attached?

e.g. modify the file in the following way:

<joint name="${name}_joint" type="revolute">
  <xacro:insert_block name="origin" />
  <parent link="${parent}"/>
  <child link="${name}_link"/>
  <limit effort="300" velocity="1" lower="-2.61799387799" upper="2.6128806087" />
<dynamics damping="50" friction="1"/>

add a transmission

<transmission name="tran1">
  <joint name="${name}_joint">
  <actuator name="motor1">

and add a gazebo control plugin:

 <plugin name="gazebo_ros_control" filename="">


Is this more or less the correct way to do this? Or has anyone done this before? perhaps this is the right plugin: but i can not compile it with ros indigo.

Best, Tobi

edit retag flag offensive close merge delete


Hi Tobi, I'm currently trying to achieve the very same thing as you but without the controller (I just need to camera pointing downwards the entire time). Did you get anywhere with this?

Willwill gravatar imageWillwill ( 2017-08-14 10:32:15 -0500 )edit