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Previously what we did, we created a VOI file and then launched it with a launch file.

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Okay, I robot was there are mes was there and our camera body was there.

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This time we are going to make some changes into that.

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There was an add the file that we just copied from another launch file was spawning the robot and when

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it is spawning the robot in the world file, the robot is already dead and that is what was causing

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that error.

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So I just commented out and next time when you will run it, this line will not appeared, although

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these red lines will appear because I have deleted the bots in which are which, which are included

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in the gazebo.

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But no, what we were aiming for was if you open up this void file void, where is the simulation.

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We want this camera model to be up at a certain height.

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What I am going to do is to close this and I am going to find out where this camera model is actually

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defined.

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If I say model and I hope this is the thing model untitled, this is the camera model.

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And where does this tag hangs?

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It ends here.

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Okay.

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So I have found the model and I have to include inside of it the things that I want to do.

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The first thing, if I can find the link in this model link, start at this point and link ends at this

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point before just ending the link or you can add in between.

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I will be adding this sensor properties and if I just based those sensor properties, here are cameras

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installed and that's it.

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You can install the camera to gazebo as well, but I like to edit this word file and add functionality

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into the specified models like this.

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So type this camera.

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It is going to be named camera one.

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I would say camera or camera name is heard.

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There is nothing like base and parent and child because it is directly pasted as a sensor inside of

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our model.

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I want to add one thing, by the way, and that is I want it to visualize.

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Visualize is going to be set true.

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So I can visually see what the camera is looking at.

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It helps a lot.

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800 by 800 RGV.

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Camera Controller.

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This is the plug in that it is going to use and always on.

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Yes, I want it to be always on.

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There is one thing that I also want to change here.

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30th piece is going to be the values and static.

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Yes, static is basically defined as wherever the position of the model is.

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It is going to start.

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Gravity is not going to affect it.

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So one, I can move it any way I want.

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So camera is defined.

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Now let's run it and see if this actually makes sense or not without my let me guess he was running

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or not because he was not running.

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Let me pause it or stop it.

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Kill all available.

49
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GZ said what?

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There is no nothing running.

51
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What I have to do is to perform Colgan build.

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I have already written the command by to allow overriding MZ book.

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It's done.

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Let's launch everything we can.

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So this time we have to see about the error as well.

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Oops, there is some sort of error of error in that passing error reading and tag.

57
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Okay.

58
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When I pasted it did I copy the actual length.

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No, I started from the sensor tag and I did not copy this.

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And syntax syntax that has been called.

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So let's close this sensor as well.

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Performing the call can build again.

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Overriding on me is bought and now let me launch it and see if the spawn entity edit is happening or

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not.

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Okay.

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The camera is there.

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But before going into that same areas, because of the additional part that I've added, but I have

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deleted them manually and now you can see there is no spontaneity added.

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That was because of the virtual file was including the robot and the launch was also spawning that robot

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in visible with the same name as with what are the available topics to us or our topic list.

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Just curious.

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It is taking some time.

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Okay, come on.

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We lost it for the robot and now we have the camera topics says.

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But if we look at the simulation, our camera is now at a certain height and it is not falling.

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And we can see that camera is looking at something.

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And yes, if I put anything inside of the vision of the camera, we can see the camera is looking,

78
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but it is looking on the right side.

79
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I want it to look towards the me.

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So first I will make some changes if I think the requirement was 2.7 here and not in the ground plane.

81
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Sorry, the pause of this is not in the ground plane.

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I don't want to change the pose of ground plane.

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I want to change me.

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Is board me is untitled.

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Untitled is basically the camera pause of the camera.

86
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I want it to be 2.7, 2.7 and x 5.4 and 25.4.

87
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If we go into this specific model, it is hard to read because it is not colored and it is just the

88
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slight programming.

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I have to change the pose of our sensor only, not the whole body.

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So I will add a tag pause and that is going to contain the pause.

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060y0z.

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I don't want anything to be changing in the translation part in x axis or anything.

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You effects it.

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I want the orientation part, which is the next three things.

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The roll pitch.

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John I think it is a roll pitch angle 1.57.

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I want it to be rotated 90 degree.

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I have saved it.

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I want to be me or I'll overwrite on the existing files and when I launch it I hope I solved it.

100
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It is a hidden trial matter for me as well.

101
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Now you can see this camera is looking downwards.

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It has shifted its position and it is looking on the ground.

103
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There is a row board, the camera is working.

104
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Everything seems to work really great.

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What we want to do, we want to visualize what our camera is actually looking at.

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So I will go into always I was always do okay out of his is installed it to camera link.

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I want to look at what the camera's looking at so image topic is going to be added and on the image

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specific topic.

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Camera image raw.

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So you can see if I can bring it out here and I can stretch it.

111
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It can look on the math and I can do revision.

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People would be very happy to see that are up.

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Camera can clearly see things, but you can see the position of this camera is not perfect because the

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vision team would not be able to see the path here.

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So I have to shift the camera a little bit.