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fix(gz_bridge): camera topic

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Ilya Uraev 2025-03-12 11:21:49 +03:00
parent b0d61ecc3a
commit 255c7b1b18
2 changed files with 18 additions and 2 deletions
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18
rbs_mill_assist/config/gz_bridge.yaml
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@ -3,7 +3,23 @@
gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS
- topic_name: "rgbd_camera"
- topic_name: "/rgbd_camera/image/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
- topic_name: "/rgbd_camera/image/depth_image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
- topic_name: "/rgbd_camera/image/camera_info"
ros_type_name: "sensor_msgs/msg/CameraInfo"
gz_type_name: "gz.msgs.CameraInfo"
direction: GZ_TO_ROS
# TODO: add static TF publishing of the camera frame
# - topic_name: "/rgbd_camera/image/points"
# ros_type_name: "sensor_msgs/msg/PointCloud2"
# gz_type_name: "gz.msgs.PointCloudPacked"
# direction: GZ_TO_ROS

2
rbs_mill_assist/world/default.sdf
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@ -123,7 +123,7 @@
</collision>
<!-- RGBD Sensor -->
<sensor name="rgbd_camera" type="camera">
<sensor name="rgbd_camera" type="rgbd_camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>