In /home/username/src/Firmware/Tools/sitl_gazebo/models/rotors_description/urdf/

Open to edit iris_base.xacro. Before the , I added the following bloc of code:

<!-- Mount a camera -->

<xacro:camera_macro

`namespace="${namespace}"`

`parent_link="base_link"`

`camera_suffix="red_iris"`

`frame_rate="30.0"`

`horizontal_fov="1.3962634"`

`image_width="800"`

`image_height="800"`

`image_format="R8G8B8"`

`min_distance="0.02"`

`max_distance="300"`

`noise_mean="0.0"`

`noise_stddev="0.007"`

`enable_visual="1"`

`>`

`<box size="0.05 0.05 0.05" />`

`<origin xyz="0 0 -0.07" rpy="0 1.57079 0"/>`

</xacro:camera_macro>

Open a terminal,

cd Firmware

DONT_RUN=1 make px4_sitl_default gazebo To make change permanent

Now launching px4 sitl with roslaunch, publishes images to topic.

For displaying the camera output we can use

rosrun rqt_image_view rqt_image_view (Through rqt)

rosrun image_view image_view image:=<topic name>

For getting live video feed from camera and process it,

cv_bridge

To setup darknet_ros for object classification.

darknet_ros

px4 avoidance