From 6da292aebc604adc6bb875efedfc6cc4a7bb9187 Mon Sep 17 00:00:00 2001 From: Rhys Mainwaring Date: Wed, 30 Oct 2024 14:28:04 +0000 Subject: [PATCH] Copter: use 3DoF gimbal Signed-off-by: Rhys Mainwaring --- ardupilot_gz_bringup/config/iris_bridge.yaml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ardupilot_gz_bringup/config/iris_bridge.yaml b/ardupilot_gz_bringup/config/iris_bridge.yaml index 880d111..39c9331 100644 --- a/ardupilot_gz_bringup/config/iris_bridge.yaml +++ b/ardupilot_gz_bringup/config/iris_bridge.yaml @@ -24,13 +24,14 @@ ros_type_name: "tf2_msgs/msg/TFMessage" gz_type_name: "gz.msgs.Pose_V" direction: GZ_TO_ROS + - ros_topic_name: "camera/image" - gz_topic_name: "/world/map/model/iris/link/tilt_link/sensor/camera/image" + gz_topic_name: "/world/map/model/iris/link/pitch_link/sensor/camera/image" ros_type_name: "sensor_msgs/msg/Image" gz_type_name: "gz.msgs.Image" direction: GZ_TO_ROS - ros_topic_name: "camera/camera_info" - gz_topic_name: "/world/map/model/iris/link/tilt_link/sensor/camera/camera_info" + gz_topic_name: "/world/map/model/iris/link/pitch_link/sensor/camera/camera_info" ros_type_name: "sensor_msgs/msg/CameraInfo" gz_type_name: "gz.msgs.CameraInfo" direction: GZ_TO_ROS