Adding camera topics correctly

Author: aleon2020

CustomRobots/roomba_robot/params/roombaROS_cam.yaml

@@ -39,12 +39,6 @@
   direction: GZ_TO_ROS
 
 # gz topic published by Sensors plugin (Camera)
-- 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_topic_name: "/camera/camera_info"
   gz_topic_name: "/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"

Launchers/montecarlo_visual_localization/spawn_robot.launch.py

@@ -77,12 +77,12 @@ def generate_launch_description():
         output="screen",
     )
 
-    # start_gazebo_ros_image_bridge_cmd = Node(
-    #     package="ros_gz_image",
-    #     executable="image_bridge",
-    #     arguments=["/turtlebot3/camera/image_raw"],
-    #     output="screen",
-    # )
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package="ros_gz_image",
+        executable="image_bridge",
+        arguments=["/camera/image_raw"],
+        output="screen",
+    )
 
     # start_gazebo_ros_depth_bridge_cmd = Node(
     #     package="ros_gz_image",
@@ -101,7 +101,7 @@ def generate_launch_description():
     # Add any conditioned actions
     # ld.add_action(start_gazebo_ros_spawner_cmd)
     ld.add_action(start_gazebo_ros_bridge_cmd)
-    # ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
     # ld.add_action(start_gazebo_ros_depth_bridge_cmd)
 
     return ld