Adding a Camera to RotorS

Camera Coordinate Frames

${camera}_link -> Camera body frame defined w.r.t parent  
${camera}_optical_link -> Camera optical frame rpy="${-pi/2} 0 ${-pi/2}" w.r.t ${camera}_link.

Calibration files usually use the transformation between IMU and the _optical_link. Use a static tf publisher or the joint state publisher in Gazebo to get to know this transformation.

Using the Camera Macro

Defined in component_snippets.xacro

  <!--Mount a Camera-->

  <xacro:camera_macro
    namespace="${namespace}"
    parent_link="${namespace}/base_link"
    camera_suffix="nadir"
    frame_rate="20.0"
    horizontal_fov="2"
    image_width="752"
    image_height="480"
    image_format="L8"
    min_distance="0.02"
    max_distance="50"
    noise_mean="0.0"
    noise_stddev="0.007"
    enable_visual="true">

      <box size="0.05 0.05 0.02" />
      <origin xyz="0 0 ${-arm_length/4}" rpy="0 ${pi/2} 0" />
  </xacro:camera_macro>