Camera

Bridge rgb camera between gazebo to ros

Gazebo

Add sensor plugin to world

<plugin
  filename="gz-sim-sensors-system"
  name="gz::sim::systems::Sensors">
  <render_engine>ogre2</render_engine>
</plugin>

<sensor name="camera" type="camera">
    <pose> 0 0 0 0 0 0 </pose>
    <visualize>true</visualize>
    <update_rate>10</update_rate>
    <camera>
        <camera_info_topic>camera/camera_info</camera_info_topic>
        <horizontal_fov>1.089</horizontal_fov>
        <image>
            <format>R8G8B8</format>
            <width>640</width>
            <height>480</height>
        </image>
        <clip>
            <near>0.05</near>
            <far>8.0</far>
        </clip>
    </camera>
    <topic>camera/image_raw</topic>
    <gz_frame_id>camera_link_optical</gz_frame_id>
</sensor>

urdf

Don't forget to shroud with <gazebo reference="link name"> tag

download world

---

ROS2

check ros gz sim demo

ros_gz_bridge

ros2 run ros_gz_bridge parameter_bridge /camera/image_raw@sensor_msgs/msg/Image@gz.msgs.Image

Using launch file

• load bridge config from yaml file
• control topic qos

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from ros_gz_bridge.actions import RosGzBridge

PACKAGE_NAME = 'tutorial_bringup'

def generate_launch_description():
    ld = LaunchDescription()

    bridge_params = os.path.join(get_package_share_directory(PACKAGE_NAME),'config','gz_bridge.yaml')
    bridge = RosGzBridge(
            bridge_name="bridge",
            config_file=bridge_params,
        )

    ld.add_action(bridge)


    return ld

- ros_topic_name: "/camera/image_raw"
  gz_topic_name: "/camera/image_raw"
  ros_type_name: "sensor_msgs/msg/Image"
  gz_type_name: "gz.msgs.Image"
  direction: GZ_TO_ROS

---

ros_gz_image

use image_transport

sudo apt install ros-jazzy-ros-gz-image

ros2 run ros_gz_image image_bridge /camera/image_raw

---

rqt

ros2 run rqt_image_view rqt_image_view /camera/image_raw