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:
https://github.com/tu-darmstadt-ros-pkg/hector_models/blob/groovy-devel/hector_sensors_description/urdf/generic_camera.urdf.xacro
<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
