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2016-07-26 08:32:44 -0600 asked a question Camera Gimbal for Hector/Gazebo

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