如何在gazebo仿真中给无人机iris模型添加双目相机

Question

参考单目

在添加单目相机时，根据参考在launch文件的vehicle model中添加iris_fpv_cam，即

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- add stereo camera for iris -->
    <arg name="my_camera" default="iris_fpv_cam"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- also need to revise sdf -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->

之后运行rolaunch该launch文件，使用rostopic list，可以得到如下话题：

/iris/usb_cam/camera_info
/iris/usb_cam/image_raw
/iris/usb_cam/image_raw/compressed
/iris/usb_cam/image_raw/compressed/parameter_descriptions
/iris/usb_cam/image_raw/compressed/parameter_updates
/iris/usb_cam/image_raw/compressedDepth
/iris/usb_cam/image_raw/compressedDepth/parameter_descriptions
/iris/usb_cam/image_raw/compressedDepth/parameter_updates
/iris/usb_cam/image_raw/theora
/iris/usb_cam/image_raw/theora/parameter_descriptions
/iris/usb_cam/image_raw/theora/parameter_updates
/iris/usb_cam/parameter_descriptions
/iris/usb_cam/parameter_updates

可以看出ros拿到了相机图像的数据，用rqt_image_view也可以拿到图像；
因此双目也参考类似的方法；

双目写法

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- add stereo camera for iris -->
    <arg name="my_camera" default="iris_stereo_camera"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- also need to revise sdf -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->

问题

同样的，launch之后用rostopic list，发现没有任何关于iris的cam的话题，rqt_image_view也是什么都没有，是我调用方法不对吗还是？

Answer 1

基于gazebo的四旋翼无人机iris双目相机ORB_SLAM2_Mr.Hazyzhao的博客-CSDN博客 gazebo环境中的四旋翼双目ORB仿真ORB SLAM2的编译github project linkORB-SLAM2的安装与运行Buildcd ORB_SLAM2chmod +x build.sh./build.shBuild in ROScopy ORB_SLAM2 to catkin_ws/srcadd Path, export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/ORB_SLAM2/Examples/RO https://blog.csdn.net/weixin_43693946/article/details/123502859?spm=1001.2014.3001.5502