Trouble running Gazebo simulation with camera plugin
Hi
I am trying to add a camera to the iris drone in my gazebo simulation. I tried using many models (iris_fpv_cam, iris_downward_depth_camera, iris_stereo_camera ...) by changing px4 launch files' vehicle argument. But i keep getting:
Error: Unknown model 'iris_fpv_cam'
ERROR [px4] Startup script returned with return value: 256
I also tried to modify iris.sdf and iris.xacro files as described here. And I get the following errors:
Error [parser.cc:550] Required attribute[name] in element[collision] is not specified in SDF.
Error [parser.cc:769] Error reading element <collision>
Error [parser.cc:769] Error reading element <link>
Error [parser.cc:769] Error reading element <model>
Error [parser.cc:394] Unable to read element <sdf>
Error: Could not find the 'robot' element in the xml file
at line 81 in /build/urdfdom-UJ3kd6/urdfdom-0.4.1/urdf_parser/src/model.cpp
Error [parser_urdf.cc:3408] Unable to call parseURDF on robot model
Error [parser.cc:340] parse as old deprecated model file failed.
Can someone please assist me on how to add a downward camera attached to my drones?
Thank you
Hi @Naza karim,
To understand better your problem, can you post your URDF files here?
For me, it seems that Gazebo is having problems parsing the URDF description, missing certain tags and attributes.
Hi @Weasfas , thanks for your comment. Here is my iris.sdf: https://pastebin.com/VjeCp5K0 and in iris.xacro, I just added a xacro property :
The modifications I made in the file is from line 56 to 85.
In line 65 of the SDF is defined a collision and visual with no names, as SDF standard states, the name is compulsory. Try that cause I think all other errors come from the parsing of that unique line.
Thank you @Weasfas , I added names and corrected the format to fit sdf files, but not yet able to see ROS topic that publishes images.
@Naza karim Have you found a solution for this? I am having the exact same problem.