Modifying both param files

Author: aleon2020

CustomRobots/f1/params/f1_renault_ackermann_harmonic_laser.yaml

@@ -5,7 +5,6 @@
   gz_type_name: "gz.msgs.Odometry"
   direction: GZ_TO_ROS
 
-
 # gz topic subscribed to by DiffDrive plugin
 - ros_topic_name: "cmd_vel"
   gz_topic_name: "/model/f1_renault_ackermann_harmonic_laser/cmd_vel"
@@ -21,6 +20,12 @@
 #   direction: GZ_TO_ROS
 
 # gz topic published by Sensors plugin (Camera)
+- ros_topic_name: "/model/f1_renault_ackermann_harmonic_laser/camera/image_raw"
+  gz_topic_name: "/model/f1_renault_ackermann_harmonic_laser/camera/image_raw"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
 - ros_topic_name: "/model/f1_renault_ackermann_harmonic_laser/camera/camera_info"
   gz_topic_name: "/model/f1_renault_ackermann_harmonic_laser/camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"

CustomRobots/f1/params/f1_renault_laser_no_cam.yaml

@@ -20,6 +20,12 @@
 #   direction: GZ_TO_ROS
 
 # gz topic published by Sensors plugin (Camera)
+- ros_topic_name: "/cam_f1_left/image_raw"
+  gz_topic_name: "/cam_f1_left/image_raw"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
 - ros_topic_name: "/cam_f1_left/camera_info"
   gz_topic_name: "/cam_f1_left/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"

Launchers/visualization/follow_line.config

@@ -0,0 +1 @@
+...