How to define sensors of an aerial robot for Gazebo simulation?

[MJavadZallaghi]

When running different examples, I can see the sensors are different based on the purpose of that MRS package. For example, in Octomap mapper and planner, the robot spawns in the map with OS-0 128 3D LiDAR on top, while in open-vins package, the robot spawns with a monocular (fisheye?) camera in front for visual-inertial state estimation.

I want to learn how you define for each simulation what sensors need to be on the robot, where they are fixed, how the type of sensor is determined, what are the topic names of those sensors, etc. Does any configuration file do it? Any example for me to learn this simulation sensors setup on any aerial robot is appreciated.

Thanks for your guides!

[MJavadZallaghi]

After a little code investigation, learned that I can define my robot sensor configuration with simulator spawn service. For example for adding a RealSense D435 camera:

waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 --$UAV_TYPE --enable-rangefinder --enable-realsense-front"

This file in mrs_simulation includes the option we could have for different sensor configurations when spawning the robots. Gazebo simulations spawn the robot correctly with this service with asked sensor. Is there any other way to have more control on sensor configurations? For example, I don't see OAK-D sensors simulated in the configuration file options for the spawn service.

[petrlmat]

Hi @MJavadZallaghi, only the options specified in the spawner_params.yaml file are currently available. If you need to simulate other sensor, you can modify the sdf files and/or the sensor plugins.

[andrews-quest]

Should you be editing the session.yaml file then? If yes, I've edited the line in question to exactly what you've provided and it doesn't work for the x500 model.