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<p>Hi Francisco,<br>
<br>
The problem was that when I launch gazebo Ardrone.world I didn't get:<br>
<br>
QuadRotorSensors::QuadRotorSensors()<br>
[0xa2617260]QuadrotorPlugin::QuadrotorPlugin()<br>
[quadrotor] QuadrotorPlugin::Load()<br>
[quadrotor] QuadrotorPlugin::InitializeIce()<br>
[quadrotor] config: quadrotorplugin2.cfg<br>
[Info] loaded Ice.Config file: /usr/local/share/jderobot/conf/quadrotorplugin2.cfg<br>
[quadrotor] create Ice plugin...<br>
[quadrotor] QuadrotorPlugin::Init()<br>
[quadrotor] Sensors of quadrotor<br>
[quadrotor] cam_sensor_ventral (id: 34)<br>
[quadrotor] cam_sensor_frontal (id: 35)<br>
[quadrotor] sonar (id: 36)<br>
[quadrotor] imu_sensor (id: 67)<br>
[quadrotor] boostrap quadrotor state as Landed (altitude=0.516044)<br>
[quadrotor] Ice adapter listening at <br>
[quadrotor] tcp -h localhost -p 9000<br>
Constructor CameraIBase<br>
[quadrotor] Ice booststrap done.<br>
[quadrotor] bootstrap cam[0]<br>
PushCameraI::onCameraSensorBoostrap()<br>
[quadrotor] bootstrap cam[1]<br>
<br>
I have solved with:</p>
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<p>source gazebo-setup.sh</p>
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</p>
<p>Thank you so much!!<br>
</p>
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