Tweak

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Nov 22, 2024 · 7574d5f · 7574d5f
1 parent f046035
commit 7574d5f
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Showing 2 changed files with 18 additions and 28 deletions.
diff --git a/ros_gz_sim_demos/config/rgbd_camera_bridge.yaml b/ros_gz_sim_demos/config/rgbd_camera_bridge.yaml
@@ -3,52 +3,36 @@
   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
+  lazy: true
   direction: GZ_TO_ROS
 
 - ros_topic_name: "/camera/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
+  lazy: true
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/rgbd_camera/image"
-  gz_topic_name: "/rgbd_camera/image"
+- topic_name: "/rgbd_camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/rgbd_camera/camera_info"
-  gz_topic_name: "/rgbd_camera/camera_info"
+- topic_name: "/rgbd_camera/camera_info"
   ros_type_name: "sensor_msgs/msg/CameraInfo"
   gz_type_name: "gz.msgs.CameraInfo"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/rgbd_camera/depth_image"
-  gz_topic_name: "/rgbd_camera/depth_image"
+- topic_name: "/rgbd_camera/depth_image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
 
-- ros_topic_name: "/rgbd_camera/points"
-  gz_topic_name: "/rgbd_camera/points"
+- topic_name: "/rgbd_camera/points"
   ros_type_name: "sensor_msgs/msg/PointCloud2"
   gz_type_name: "gz.msgs.PointCloudPacked"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.xml b/ros_gz_sim_demos/launch/rgbd_camera_bridge.launch.xml
@@ -1,6 +1,12 @@
 <launch>
-  <gz_server world_sdf_file="sensors_demo.sdf" use_composition="True" create_own_container="True" />
-  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/rgbd_camera_bridge.yaml" use_composition="True" />
+  <gz_server
+    world_sdf_file="sensors_demo.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/rgbd_camera_bridge.yaml"
+    use_composition="True" />
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/rgbd_camera_bridge.rviz" />
   <executable cmd="gz sim -g" />
 </launch>