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Adding camera to existing default IRIS quadcopter

Hi,

I'm trying to add a camera to the existing default iris quadcopter in gazebo. I'm following this guide/tutorial . To the iris.sdf file I added:

 <joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="${camera_link} 0 ${height3 - axel_offset*2}" rpy="0 0 0"/>
    <parent link="link3"/>
    <child link="camera_link"/>
  </joint>

  <!-- Camera -->
  <link name="camera_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="${camera_link} ${camera_link} ${camera_link}"/>
      </geometry>
      <material name="red"/>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

And to the iris.xarco file I added 

<xacro:property name="camera_link" value="0.05" /> <!-- Size of square 'camera' box -->

But for some reason when I try to run the simulation, I don't see the added red box (camera). I'm really new to gazebo, I only have been able to fly the drone autonomously controlled via a ROS-node, but thats all. Anyone who could help me?

Thanks!

Asked by MaxWell on 2017-10-31 06:17:31 UTC

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Answers

For anyone facing this difficulty, i would recommend first to go through this : http://gazebosim.org/tutorials?tut=ros_gzplugins#Camera

And this is the change you need to do in your iris.sdf. (just add the following)

<link name='cam_link'>
  <pose frame=''>-0.118317 0.002195 0.004205 -0 -0 -3.12703</pose>
  <inertial>
    <mass>0.1</mass>
    <inertia>
      <ixx>1</ixx>
      <ixy>0</ixy>
      <ixz>0</ixz>
      <iyy>1</iyy>
      <iyz>0</iyz>
      <izz>1</izz>
    </inertia>
    <pose frame=''>0 0 0 0 -0 0</pose>
  </inertial>
  <self_collide>0</self_collide>
  <kinematic>0</kinematic>
  <sensor name='camera1' type='camera'>
    <camera name="head">
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
        <width>800</width>
        <height>800</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>1</visualize>
    <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>iris/camera</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>camera_link</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
  </plugin>
  </sensor>

Asked by kzbr on 2018-07-31 16:26:12 UTC

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Hi, is missing I tkink. I added xml part to iris.sdf but It gives an error like "libgazebo_ros_camera.so not found". How can I resolv problem?

Asked by saucompeng on 2019-02-28 03:49:33 UTC

I found this solution to work perfectly. Video

Asked by nkhedekar on 2019-05-30 11:33:09 UTC

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