Merge pull request #5 from ros-navigation/pr-fix-bridge

Minor change for images and depth across ros_gz bridge.

Author: SteveMacenski

nav2_min_tb4_description/urdf/sensors/oakd.urdf.xacro

@@ -137,6 +137,7 @@
       </camera>
       <update_rate>10</update_rate>
       <visualize>true</visualize>
+      <topic>rgbd_camera</topic>
     </sensor>
     <xacro:material_darkgray/>
   </gazebo>

nav2_min_tb4_sim/configs/tb4_bridge.yaml

@@ -49,3 +49,10 @@
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
+
+# replace camera_info_bridge
+- ros_topic_name: "/rgbd_camera/camera_info"
+  gz_topic_name: "/rgbd_camera/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS

nav2_min_tb4_sim/launch/spawn_tb4.launch.py

@@ -73,6 +73,7 @@ def generate_launch_description():
     bridge = Node(
         package='ros_gz_bridge',
         executable='parameter_bridge',
+        name='bridge_ros_gz',
         parameters=[
             {
                 'config_file': os.path.join(
@@ -84,6 +85,26 @@ def generate_launch_description():
         output='screen',
     )
 
+    camera_bridge_image = Node(
+        package='ros_gz_image',
+        executable='image_bridge',
+        name='bridge_gz_ros_camera_image',
+        output='screen',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+        }],
+        arguments=['/rgbd_camera/image'])
+
+    camera_bridge_depth = Node(
+        package='ros_gz_image',
+        executable='image_bridge',
+        name='bridge_gz_ros_camera_depth',
+        output='screen',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+        }],
+        arguments=['/rgbd_camera/depth_image'])
+
     spawn_model = Node(
         condition=IfCondition(use_simulator),
         package='ros_gz_sim',
@@ -114,5 +135,7 @@ def generate_launch_description():
     ld.add_action(set_env_vars_resources)
 
     ld.add_action(bridge)
+    ld.add_action(camera_bridge_image)
+    ld.add_action(camera_bridge_depth)
     ld.add_action(spawn_model)
     return ld