fix(gz_bridge): camera topic

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

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>