Previously what we did, we created a VOI file and then launched it with a launch file.
Okay, I robot was there are mes was there and our camera body was there.
This time we are going to make some changes into that.
There was an add the file that we just copied from another launch file was spawning the robot and when
it is spawning the robot in the world file, the robot is already dead and that is what was causing
that error.
So I just commented out and next time when you will run it, this line will not appeared, although
these red lines will appear because I have deleted the bots in which are which, which are included
in the gazebo.
But no, what we were aiming for was if you open up this void file void, where is the simulation.
We want this camera model to be up at a certain height.
What I am going to do is to close this and I am going to find out where this camera model is actually
defined.
If I say model and I hope this is the thing model untitled, this is the camera model.
And where does this tag hangs?
It ends here.
Okay.
So I have found the model and I have to include inside of it the things that I want to do.
The first thing, if I can find the link in this model link, start at this point and link ends at this
point before just ending the link or you can add in between.
I will be adding this sensor properties and if I just based those sensor properties, here are cameras
installed and that's it.
You can install the camera to gazebo as well, but I like to edit this word file and add functionality
into the specified models like this.
So type this camera.
It is going to be named camera one.
I would say camera or camera name is heard.
There is nothing like base and parent and child because it is directly pasted as a sensor inside of
our model.
I want to add one thing, by the way, and that is I want it to visualize.
Visualize is going to be set true.
So I can visually see what the camera is looking at.
It helps a lot.
800 by 800 RGV.
Camera Controller.
This is the plug in that it is going to use and always on.
Yes, I want it to be always on.
There is one thing that I also want to change here.
30th piece is going to be the values and static.
Yes, static is basically defined as wherever the position of the model is.
It is going to start.
Gravity is not going to affect it.
So one, I can move it any way I want.
So camera is defined.
Now let's run it and see if this actually makes sense or not without my let me guess he was running
or not because he was not running.
Let me pause it or stop it.
Kill all available.
GZ said what?
There is no nothing running.
What I have to do is to perform Colgan build.
I have already written the command by to allow overriding MZ book.
It's done.
Let's launch everything we can.
So this time we have to see about the error as well.
Oops, there is some sort of error of error in that passing error reading and tag.
Okay.
When I pasted it did I copy the actual length.
No, I started from the sensor tag and I did not copy this.
And syntax syntax that has been called.
So let's close this sensor as well.
Performing the call can build again.
Overriding on me is bought and now let me launch it and see if the spawn entity edit is happening or
not.
Okay.
The camera is there.
But before going into that same areas, because of the additional part that I've added, but I have
deleted them manually and now you can see there is no spontaneity added.
That was because of the virtual file was including the robot and the launch was also spawning that robot
in visible with the same name as with what are the available topics to us or our topic list.
Just curious.
It is taking some time.
Okay, come on.
We lost it for the robot and now we have the camera topics says.
But if we look at the simulation, our camera is now at a certain height and it is not falling.
And we can see that camera is looking at something.
And yes, if I put anything inside of the vision of the camera, we can see the camera is looking,
but it is looking on the right side.
I want it to look towards the me.
So first I will make some changes if I think the requirement was 2.7 here and not in the ground plane.
Sorry, the pause of this is not in the ground plane.
I don't want to change the pose of ground plane.
I want to change me.
Is board me is untitled.
Untitled is basically the camera pause of the camera.
I want it to be 2.7, 2.7 and x 5.4 and 25.4.
If we go into this specific model, it is hard to read because it is not colored and it is just the
slight programming.
I have to change the pose of our sensor only, not the whole body.
So I will add a tag pause and that is going to contain the pause.
060y0z.
I don't want anything to be changing in the translation part in x axis or anything.
You effects it.
I want the orientation part, which is the next three things.
The roll pitch.
John I think it is a roll pitch angle 1.57.
I want it to be rotated 90 degree.
I have saved it.
I want to be me or I'll overwrite on the existing files and when I launch it I hope I solved it.
It is a hidden trial matter for me as well.
Now you can see this camera is looking downwards.
It has shifted its position and it is looking on the ground.
There is a row board, the camera is working.
Everything seems to work really great.
What we want to do, we want to visualize what our camera is actually looking at.
So I will go into always I was always do okay out of his is installed it to camera link.
I want to look at what the camera's looking at so image topic is going to be added and on the image
specific topic.
Camera image raw.
So you can see if I can bring it out here and I can stretch it.
It can look on the math and I can do revision.
People would be very happy to see that are up.
Camera can clearly see things, but you can see the position of this camera is not perfect because the
vision team would not be able to see the path here.
So I have to shift the camera a little bit.