Attaching t265 camera through sdf files

[NishanthARao]

Greetings. Thanks a lot for this package, helps a lot!

However, I am trying to include this model into the iris drone provided by the PX4 autopilot package. Most of the files in PX4 packages are sdf files. I just wanted to know if there is any workaround for this?

I want to include the t265 camera on the iris drone which is in sdf format.

Thanks in advance!

[nilseuropa]

Hi,

This gazebo plugin is publishing ROS messages.

It seems to me that the PX4 simulation is not using ROS, just Gazebo.

Regarding the models, are you referring to this repository ?

In principle you could just copy the referenced part of the URDF to an SDL to use it in Gazebo, but in this case you need to compile the plugin first. ( And before that you would need to get rid of the ROS specific parts if you are not using them. )

Also this is worth reading:
http://gazebosim.org/tutorials/?tut=add_laser

[NishanthARao]

@nilseuropa Hi, thanks for you reply.

1. The PX4 simulation can be interfaced with MAVROS which is a ROS tool that can be used to communicate with PX4 via a MAVLINK protocol. So yes, I am using ROS. All I want is to get the ROS messages through the publisher.
2. Yes, you are right. The repository consists of a drone model called iris.sdf (you can ignore the jinja extension) in which I want to attach your gazebo plugin.

It would be great if you can throw some insights into this.

Thanks a lot

[iamrajee]

@nilseuropa I'm looking for a similar solution. Wish to simulate t265 with an iris drone but not sure how to proceed.
I tried to add xacro tag but got below warning:

Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.

[seu-ljdong]

Greetings. Thanks a lot for this package, helps a lot!

However, I am trying to include this model into the iris drone provided by the PX4 autopilot package. Most of the files in PX4 packages are sdf files. I just wanted to know if there is any workaround for this?

I want to include the t265 camera on the iris drone which is in sdf format.

Thanks in advance!
Could you please let me know how you implemented the camera plugin in the SDF file? I also need to use this plugin in my SDF model. Thank you very much for your assistance!