Hi everybody,
I launch Gazebo with SITL and connect to a camera using the ROS-Gazebo bridge. I’m using.
‘’/world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image’’
The issue is, as soon as I connect with sitl, the camera suddenly rotates, as shown in the images. it just turns on its own.
Any idea why this is happening? And how can I stop the camera from moving like that?
Appreciate any help!
Hello @k_dalkilinc, in this example the gimbal is controlled by the flight controller (ArduPilot SITL), and the parameters need to be configured correctly for this.
See: Servo Gimbal — Copter documentation
Hello, have you solved this already? I am currently facing the same problem, I’ve been trying to fix it for almost a week now, but I cannot still fix it. I hope someone could help me. Thank you.
@Shichiro, we’ve recently merged https://github.com/ArduPilot/ardupilot_gz/pull/67 which simplifies the bringup of vehicles with ArduPilot and ROS integration. It includes the correct parameter config for a copter with servo gimbals.
When launched the camera will not be centred, but if you select a ROI on the map in MAVProxy the gimbal will orient towards that. Alternatively the gimbal servos can be manually set to desired positions by using the rc overrides (e.g rc 6 1500 and so on). Inspecting the launch files will show which parameter files are loaded for each vehicle, in most cases more than one parameter file is loaded depending on the base vehicle and the additional payload.
