# Gazebo ardupilot camera problem

**URL:** <https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051>\
**Category:** Gazebo General\
**Tags:** ros2, harmonic\
**Created:** [March 21, 2025, 10:38am UTC](https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051 "2025-03-21T10:38:26Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![k\_dalkilinc](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/k_dalkilinc/32/27611_2.png) [@k\_dalkilinc](https://discourse.openrobotics.org/u/k_dalkilinc)\
**Post date:** [March 21, 2025, 10:38am UTC](https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051/1 "2025-03-21T10:38:26Z")

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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!

 ![image](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/1/1db1cdc2eff54f396fd681f65b702cf0c531c2be.jpeg)

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**Author:** ![srmainwaring](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/srmainwaring/32/12607_2.png) [@srmainwaring](https://discourse.openrobotics.org/u/srmainwaring)\
**Post date:** [March 22, 2025, 9:27pm UTC](https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051/2 "2025-03-22T21:27:33Z")

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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](https://ardupilot.org/copter/docs/common-camera-gimbal.html)

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**Author:** ![Shichiro](https://avatars.discourse-cdn.com/v4/letter/s/3e96dc/32.png) [@Shichiro](https://discourse.openrobotics.org/u/Shichiro)\
**Post date:** [March 16, 2026, 4:07pm UTC](https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051/3 "2026-03-16T16:07:33Z")

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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.

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**Author:** ![srmainwaring](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/srmainwaring/32/12607_2.png) [@srmainwaring](https://discourse.openrobotics.org/u/srmainwaring)\
**Post date:** [April 1, 2026, 11:14am UTC](https://discourse.openrobotics.org/t/gazebo-ardupilot-camera-problem/49051/4 "2026-04-01T11:14:18Z")

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@Shichiro, we’ve recently merged [https://github.com/ArduPilot/ardupilot\_gz/pull/67](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.