SITL Gazebo camera stream

• px4 gazebo

Prerequisites

sudo apt-get install $(apt-cache --names-only search ^gstreamer1.0-* | awk '{ print $1 }' | grep -v gstreamer1.0-hybris) -y

Enable GStreamer Plugin

• Changed line at file <Framework>/Tools/sitl_gazebo/CMakeLists.txt

  option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" "ON")
  

• Run

  posix_sitl_default gazebo_typhoon_h480
  

View stream

• Run gstream

gst-launch-1.0  -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink fps-update-interval=1000 sync=false

View From Ground control

• Config GSC

• Stream view (bottom left

Opt flow

make posix_sitl_default gazebo_iris_opt_flow

gz topic -l

/gazebo/default/iris_opt_flow/px4flow/link/opticalFlow
/gazebo/default/iris_opt_flow/px4flow/link/px4flow/cmd
/gazebo/default/iris_opt_flow/px4flow/link/px4flow/image
/gazebo/default/iris_opt_flow/px4flow/link/px4flow/imu
/gazebo/default/iris_opt_flow/px4flow/link/wrench

gz topic -i /gazebo/default/iris_opt_flow/px4flow/link/px4flow/image
Type: gazebo.msgs.ImageStamped

Publishers:
 192.168.2.200:45849

read image from gazebo

• How to convert Gazebo's ConstImageStamped to cv::Mat?

• Topics subscription

• nodejs