参考单目

在添加单目相机时,根据参考在launch文件的vehicle model中添加iris_fpv_cam,即

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- add mono camera for iris -->
    <arg name="my_camera" default="iris_fpv_cam"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- also need to revise sdf -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->

之后运行rolaunch该launch文件,使用rostopic list,可以得到如下话题:

/iris/usb_cam/camera_info
/iris/usb_cam/image_raw
/iris/usb_cam/image_raw/compressed
/iris/usb_cam/image_raw/compressed/parameter_descriptions
/iris/usb_cam/image_raw/compressed/parameter_updates
/iris/usb_cam/image_raw/compressedDepth
/iris/usb_cam/image_raw/compressedDepth/parameter_descriptions
/iris/usb_cam/image_raw/compressedDepth/parameter_updates
/iris/usb_cam/image_raw/theora
/iris/usb_cam/image_raw/theora/parameter_descriptions
/iris/usb_cam/image_raw/theora/parameter_updates
/iris/usb_cam/parameter_descriptions
/iris/usb_cam/parameter_updates

可以看出ros拿到了相机图像的数据,用rqt_image_view也可以拿到图像;
因此双目也参考类似的方法;

双目写法

    <!-- vehicle model and world -->
    <arg name="est" default="ekf2"/>
    <arg name="vehicle" default="iris"/>
    <!-- add stereo camera for iris -->
    <arg name="my_camera" default="iris_stereo_camera"/>
    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
    <!-- also need to revise sdf -->
    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg my_camera)/$(arg my_camera).sdf"/>
    <!-- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/> -->

问题

同样的,launch之后用rostopic list,发现没有任何关于iris的cam的话题,rqt_image_view也是什么都没有,是我调用方法不对吗还是?