update poses, add camera to urdf and add bridge

rbs_simulation/launch/simulation.launch.py

@@ -68,11 +68,27 @@ def generate_launch_description():
                        executable="env_manager_node",
                        condition=IfCondition(env_manager_cond)
                        )
+    
+    # Bridge
+    rgbd_bridge_out = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=[
+            '/outer_rgbd_camera/image@sensor_msgs/msg/Image@gz.msgs.Image',
+            '/outer_rgbd_camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo',
+            '/outer_rgbd_camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image',
+            '/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
+        ],
+        output='screen',
+    )
+    
+    
 
     nodes_to_start = [
         gazebo,
         gazebo_server,
         gazebo_spawn_robot,
-        env_manager
+        env_manager,
+        rgbd_bridge_out
     ]
     return LaunchDescription(declared_arguments + nodes_to_start)