Refactor triggered_camera demo #645
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| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
| @@ -0,0 +1,27 @@ | ||||||
| # triggered_cammera 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 | ||||||
|
There was a problem hiding this comment. Do we want to specify these for sure? Can we not just use the defaults? There was a problem hiding this comment. Removed in 3c5d49b. |
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| lazy: false | ||||||
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There was a problem hiding this comment. I don't think there's harm in making lazy=true.
Suggested change
There was a problem hiding this comment. Changed in 3c5d49b. |
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| direction: GZ_TO_ROS | ||||||
|
|
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| - 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 | ||||||
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| - ros_topic_name: "/camera/trigger" | ||||||
| gz_topic_name: "/camera/trigger" | ||||||
| ros_type_name: "std_msgs/msg/Bool" | ||||||
| gz_type_name: "gz.msgs.Boolean" | ||||||
| subscriber_queue: 5 | ||||||
| publisher_queue: 6 | ||||||
| lazy: false | ||||||
| direction: ROS_TO_GZ | ||||||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| <launch> | ||
| <gz_server world_sdf_file="triggered_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/triggered_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> |
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This can be simlpified
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Simplified in 3c5d49b.