How to add a camera as FPV?

[Swesser]

Not an issue, just a noob question. How to add a FPV camera to iris_with_standoffs? and how to see the video? struggling a little bit...

p.s. using gazebo with betaflight. I have managed to import environment from Null Island into betaflight's world for testing, but now i can't understand what to do next, please help...

[Swesser]

added the following to the model, and you can get the camera image in the "Image View" in Gazebo's GUI.

<!-- FPV Camera -->
<link name='cam_link'>
  <pose frame=''>0.118317 0.002195 0.004205 -0 -0 -0</pose>
  <inertial>
    <mass>0.0001</mass>
    <inertia>
      <ixx>1e-7</ixx>
	  <ixy>0</ixy>
	  <ixz>0</ixz>
	  <iyy>1e-7</iyy>
	  <iyz>0</iyz>
	  <izz>1e-7</izz>
    </inertia>
    <pose frame=''>0 0 0 0 -0 0</pose>
  </inertial>
  <self_collide>0</self_collide>
  <kinematic>0</kinematic>
  <sensor name='camera1' type='camera'>
    <camera name="head">
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
        <width>800</width>
        <height>800</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
    </camera>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
    <visualize>1</visualize>
    <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>0.0</updateRate>
      <cameraName>iris/camera</cameraName>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>camera_link</frameName>
      <hackBaseline>0.07</hackBaseline>
      <distortionK1>0.0</distortionK1>
      <distortionK2>0.0</distortionK2>
      <distortionK3>0.0</distortionK3>
      <distortionT1>0.0</distortionT1>
      <distortionT2>0.0</distortionT2>
    </plugin>
  </sensor>
</link>

<joint name='camera_joint' type='fixed'>
<parent>base_link</parent>
<child>cam_link</child>
<pose>0 0 0 0 0 0</pose>
</joint>

However, thou there is a ros topic "/iris_with_standoffs/fpv_camera/image" the topic is empty. Probably because of the faulty gz bridge. I have tried to re-compile the bridge and dependent packages, no result. Any help appreciated...

[Swesser]

Also, I get this error

[ruby $(which gz) sim-1] [Err] [SystemLoader.cc:119] Failed to load system plugin: (Reason: Could not find shared library)
[ruby $(which gz) sim-1] - Requested plugin name: [camera_controller]
[ruby $(which gz) sim-1] - Requested library name: [libgazebo_ros_camera.so]

no idea why, working on it...

[Swesser]

the camera is available in the "Image DIsplay" inside Sim GUI