How to Add a Camera Sensor in `.sdf` World Files?

[Rithik02]

Hi everyone,

I’m new to working with .sdf world files in Gazebo and would like to add a camera sensor. I want to include the logical camera system from /usr/lib/x86_64-linux-gnu/libgz-sim8-logical-camera-system.so, but I’m not sure how to properly define and position it in an .sdf world file.

Could someone guide me on how to do this or share a basic example? Any help would be greatly appreciated.

Thanks in advance!

[girishkumar.kannan]

Hi @Rithik02 ,

You can refer to this Gazebo Sim API page to know more about using a camera:

Gazebo Sim Sensors: Gazebo Sensors: gz::sensors Namespace Reference
Gazebo Sim Camera Sensor: Gazebo Sensors: CameraSensor Class Reference
Gazebo Sim Depth Camera Sensor: Gazebo Sensors: DepthCameraSensor Class Reference

Refer to the Gazebo Sim documentation to know how to add a (camera / any) sensor to Robot Description file:
Gazebo Sim Sensors Documentation: Sensors — Gazebo harmonic documentation

These links should be the best starting point for you to add a camera to your robot model in Gazebo Sim (not Gazebo Classic version).

Regards,
Girish