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Follow camera with gz topic (#26023)

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* Follow camera with gz topic

* Set follow pgain as well
This commit is contained in:
Jaeyoung Lim
2025-12-01 09:19:04 -08:00
committed by GitHub
parent 5df20b8e9b
commit ac2f2cf2c8
1 changed files with 4 additions and 9 deletions
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13
ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
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@@ -159,24 +159,19 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
fi
# Set up camera to follow the model if requested
if [ -n "${PX4_GZ_FOLLOW}" ]; then
if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
echo "INFO [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
# Set camera to follow the model
${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
# Set default camera offset if not specified
follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
# Set camera offset
${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
--reptype gz.msgs.Boolean --timeout 5000 \
--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
echo "INFO [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
fi