After adding a camera (camera) to the UAV in gazebo, the UAV cannot take off

In fact, the main content is to refer to others' blogs , Modify or add corresponding model files and launch file , adopt mavros After starting , No matter how it is used commander takeoff It can't make the UAV take off even if it is delivered to the ground station , At the same time, the ground station reported that there was no aircraft GPS, adopt rostopic list Also did not find the release of the topic of drone location . So speculation is lacking GPS, So add the following to sdf File can .

   <include>
      <uri>model://gps</uri>
      <pose>0 0 0 0 0 0</pose>
      <name>gps</name>
    </include>
    <joint name='gps_joint' type='fixed'>
      <child>gps::link</child>
      <parent>base_link</parent>
    </joint>

After confirmation, the UAV can take off normally , At the same time through rqt_image_view You can also see the release of image topics , You can also write a ros Nodes subscribe to this topic （ There are also holes in it ）, The image below