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Adding camera to existing default IRIS quadcopter

asked 2017-10-31 06:17:31 -0500

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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"/>

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

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

      <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" />

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?


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2 Answers

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answered 2019-05-30 11:33:09 -0500

I found this solution to work perfectly. Video

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answered 2018-07-31 16:26:12 -0500

kzbr gravatar image

For anyone facing this difficulty, i would recommend first to go through this :

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>
    <pose frame=''>0 0 0 0 -0 0</pose>
  <sensor name='camera1' type='camera'>
    <camera name="head">
    <plugin name="camera_controller" filename="">
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Hi, </link> is missing I tkink. I added xml part to iris.sdf but It gives an error like " not found". How can I resolv problem?

saucompeng gravatar imagesaucompeng ( 2019-02-28 02:49:33 -0500 )edit

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Asked: 2017-10-31 06:17:31 -0500

Seen: 4,848 times

Last updated: Oct 31 '17