Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Refactor camera demo #634

Draft
wants to merge 1 commit into
base: ros2
Choose a base branch
from
Draft

Refactor camera demo #634

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions ros_gz_sim_demos/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,12 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

install(
DIRECTORY
config/
DESTINATION share/${PROJECT_NAME}/config
)

install(
DIRECTORY
launch/
Expand Down
2 changes: 1 addition & 1 deletion ros_gz_sim_demos/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o

Using the regular bridge:

ros2 launch ros_gz_sim_demos camera.launch.py
ros2 launch ros_gz_sim_demos camera.launch.xml

To use a camera that only publishes information when triggered:

Expand Down
18 changes: 18 additions & 0 deletions ros_gz_sim_demos/config/camera.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
# Camera bridge configuration.
- ros_topic_name: "/camera"
gz_topic_name: "/camera"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
subscriber_queue: 5
publisher_queue: 6
lazy: false
direction: GZ_TO_ROS

- ros_topic_name: "/camera_info"
gz_topic_name: "/camera_info"
ros_type_name: "sensor_msgs/msg/CameraInfo"
gz_type_name: "gz.msgs.CameraInfo"
subscriber_queue: 5
publisher_queue: 6
lazy: false
direction: GZ_TO_ROS
63 changes: 0 additions & 63 deletions ros_gz_sim_demos/launch/camera.launch.py
View file
Open in desktop

This file was deleted.

6 changes: 6 additions & 0 deletions ros_gz_sim_demos/launch/camera.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
<launch>
<gz_server world_sdf_file="camera_sensor.sdf" use_composition="True" create_own_container="True" />
<ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/camera.yaml" use_composition="True" />
<node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/camera.rviz" />
<executable cmd="gz sim -g" />
</launch>
Loading