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### Camera Gimbal for Hector/Gazebo

Hi, I'm relativity new to gazebo and working with the hector quadrotor package (http://wiki.ros.org/hector_quadrotor). 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="${name}_link"/> <limit effort="300" velocity="1" lower="-2.61799387799" upper="2.6128806087" /> <dynamics damping="50" friction="1"/> </joint>  add a transmission <transmission name="tran1"> <joint name="${name}_joint">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>


and add a gazebo control plugin:

<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>q1/</robotNamespace>
</plugin>


</gazebo>

Is this more or less the correct way to do this? Or has anyone done this before? perhaps this is the right plugin: https://github.com/tu-darmstadt-ros-pkg/hector_camera_control but i can not compile it with ros indigo.

Best, Tobi