GstCameraPlugin: add GstCameraPlugin to all gimbals

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Aug 7, 2024 · 68aef85 · 68aef85
1 parent 5418a54
commit 68aef85
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Showing 3 changed files with 24 additions and 6 deletions.
diff --git a/models/gimbal_small_1d/model.sdf b/models/gimbal_small_1d/model.sdf
@@ -123,6 +123,15 @@
         <always_on>1</always_on>
         <update_rate>10</update_rate>
         <visualize>1</visualize>
+
+        <plugin name="GstCameraPlugin"
+            filename="GstCameraPlugin">
+          <udp_host>127.0.0.1</udp_host>
+          <udp_port>5600</udp_port>
+          <use_basic_pipeline>true</use_basic_pipeline>
+          <use_cuda>false</use_cuda>
+        </plugin>
+
       </sensor>
     </link>
     <joint name='tilt_joint' type='revolute'>

diff --git a/models/gimbal_small_2d/model.sdf b/models/gimbal_small_2d/model.sdf
@@ -159,6 +159,15 @@
         <always_on>1</always_on>
         <update_rate>10</update_rate>
         <visualize>1</visualize>
+
+        <plugin name="GstCameraPlugin"
+            filename="GstCameraPlugin">
+          <udp_host>127.0.0.1</udp_host>
+          <udp_port>5600</udp_port>
+          <use_basic_pipeline>true</use_basic_pipeline>
+          <use_cuda>false</use_cuda>
+        </plugin>
+
       </sensor>
     </link>
     <joint name='tilt_joint' type='revolute'>

diff --git a/models/gimbal_small_3d/model.sdf b/models/gimbal_small_3d/model.sdf
@@ -211,12 +211,12 @@
           <slew_rate>0.42514285714</slew_rate>
         </plugin>
 
-        <plugin filename="GstCameraPlugin"
-            name="GstCameraPlugin">
-            <udpHost>127.0.0.1</udpHost>
-            <udpPort>5600</udpPort>
-            <imageTopic>/world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image</imageTopic>
-            <enableTopic>/enable_video_stream</enableTopic>
+        <plugin name="GstCameraPlugin"
+            filename="GstCameraPlugin">
+          <udp_host>127.0.0.1</udp_host>
+          <udp_port>5600</udp_port>
+          <use_basic_pipeline>true</use_basic_pipeline>
+          <use_cuda>false</use_cuda>
         </plugin>
 
       </sensor>