Added camera component

env_components/camera_component/src/ign_camera_component.cpp

@@ -0,0 +1,42 @@
+#include <component_manager/publisher_component.hpp>
+
+#include <iostream>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <ignition/transport/Node.hh>
+#include <rclcpp/rclcpp.hpp>
+#include <image_transport/image_transport.hpp>
+#include <ros_gz_bridge/convert.hpp>
+
+#include <sensor_msgs/msg/image.hpp>
+
+namespace camera_component
+{
+
+class IgnCameraComponent: public env_manager::component_manager::PublisherComponent<sensor_msgs::msg::Image>
+{
+public:
+    explicit IgnCameraComponent(const rclcpp::NodeOptions &options)
+        : env_manager::component_manager::PublisherComponent<sensor_msgs::msg::Image>(options)
+    {
+        auto topic_name = "/camera";
+        _ign_node = std::make_shared<ignition::transport::Node>();
+        _ign_node->Subscribe(topic_name, &IgnCameraComponent::on_image, this);
+    }
+
+private:
+    void on_image(const ignition::msgs::Image& img)
+    {
+        sensor_msgs::msg::Image rimg;
+        ros_gz_bridge::convert_gz_to_ros(img, rimg);
+        populate_publication(rimg);
+    }
+
+    std::shared_ptr<ignition::transport::Node> _ign_node;
+};
+} // namespace pub_component
+#include "rclcpp_components/register_node_macro.hpp"
+
+RCLCPP_COMPONENTS_REGISTER_NODE(camera_component::IgnCameraComponent)