From 255c7b1b18b51ba9efb02b6e0035e8693fed35ff Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Wed, 12 Mar 2025 11:21:49 +0300
Subject: [PATCH] fix(gz_bridge): camera topic

---
 rbs_mill_assist/config/gz_bridge.yaml | 18 +++++++++++++++++-
 rbs_mill_assist/world/default.sdf     |  2 +-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/rbs_mill_assist/config/gz_bridge.yaml b/rbs_mill_assist/config/gz_bridge.yaml
index 5bd50d9..7366bbe 100644
--- a/rbs_mill_assist/config/gz_bridge.yaml
+++ b/rbs_mill_assist/config/gz_bridge.yaml
@@ -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
diff --git a/rbs_mill_assist/world/default.sdf b/rbs_mill_assist/world/default.sdf
index 2e0286b..97fb3a0 100644
--- a/rbs_mill_assist/world/default.sdf
+++ b/rbs_mill_assist/world/default.sdf
@@ -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>