feat(gazebo): sync camera sim + bridge from thais_urdf

README.md

@@ -34,10 +34,11 @@ inmoov_urdf/
 │   │   ├── urdf/robot_description.urdf.xacro     # links, joints, visuals, collisions, materials
 │   │   └── meshes/dae/*.dae                      # 290 Collada meshes (visual + collision)
 │   ├── ros2_control/
-│   │   ├── inmoov_ros2_control.xacro             # hardware interfaces (real / sim / mock)
-│   │   └── inmoov_gz_ros2_control.xacro          # gz_ros2_control plugin (sim only)
+│   │   └── inmoov_ros2_control.xacro             # hardware interfaces (real / mock)
 │   └── gazebo/
-│       └── inmoov_gazebo_physics.xacro           # static / friction / self_collide (sim only)
+│       ├── inmoov_gazebo_physics.xacro           # static / friction / self_collide (sim only)
+│       ├── gazebo.xacro                          # generated gz_ros2_control plugin + camera sensors (sim only)
+│       └── gazebo_bridge.yaml                    # generated ros_gz_bridge topic map (sim only)
 ├── worlds/default.sdf       # minimal world used by gazebo.launch.py
 ├── scripts/                 # inject_collisions.py, autocalibrate_joint_limits.py, scale_xacro_origins.py
 ├── test/                    # pytest suite (xacro smoke, YAML, collisions, joint limits)

config/hardware/active.yaml

@@ -33,6 +33,48 @@ ignore_urdf_joints:
   - i01.rightHand.thumb1_link_joint
   - i01.rightHand.thumb3_link_joint
   - i01.rightHand.wrist.001_link_joint
+
+cameras:
+  - id: 'ext_camera'
+    name: 'External USB Webcam'
+    topic: '/ext_camera/jpg'
+    compressed_topic: '/ext_camera/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: true
+    sim_gz_topic: '/world/default/camera'
+
+  - realsense-rgb:
+    name: 'Realsense RGB'
+    topic: '/realsense/realsense2_camera/color/image_raw'
+    compressed_topic: '/realsense/realsense2_camera/color/image_raw/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
+  - realsense-aligned-depth:
+    name: 'Realsense Aligned Depth'
+    topic: '/realsense/realsense2_camera/aligned_depth_to_color/image_raw'
+    compressed_topic: '/realsense/realsense2_camera/aligned_depth_to_color/image_raw/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
+  - left_eye_camera:
+    name: 'Left eye webcam'
+    topic: '/camera/internal/left_eye/jpg'
+    compressed_topic: '/camera/internal/left_eye/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeRight_link'
+
+  - right_eye_camera:
+    name: 'Right eye webcam'
+    topic: '/camera/internal/right_eye/jpg'
+    compressed_topic: '/camera/internal/right_eye/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
 firmware:
   source_dir: micro_ros_raspberrypi_pico_sdk
   build_dir: build

config/hardware/configs/default.yaml

@@ -33,6 +33,48 @@ ignore_urdf_joints:
   - i01.rightHand.thumb1_link_joint
   - i01.rightHand.thumb3_link_joint
   - i01.rightHand.wrist.001_link_joint
+
+cameras:
+  - id: 'ext_camera'
+    name: 'External USB Webcam'
+    topic: '/ext_camera/jpg'
+    compressed_topic: '/ext_camera/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: true
+    sim_gz_topic: '/world/default/camera'
+
+  - realsense-rgb:
+    name: 'Realsense RGB'
+    topic: '/realsense/realsense2_camera/color/image_raw'
+    compressed_topic: '/realsense/realsense2_camera/color/image_raw/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
+  - realsense-aligned-depth:
+    name: 'Realsense Aligned Depth'
+    topic: '/realsense/realsense2_camera/aligned_depth_to_color/image_raw'
+    compressed_topic: '/realsense/realsense2_camera/aligned_depth_to_color/image_raw/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
+  - left_eye_camera:
+    name: 'Left eye webcam'
+    topic: '/camera/internal/left_eye/jpg'
+    compressed_topic: '/camera/internal/left_eye/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeRight_link'
+
+  - right_eye_camera:
+    name: 'Right eye webcam'
+    topic: '/camera/internal/right_eye/jpg'
+    compressed_topic: '/camera/internal/right_eye/jpg/compressed'
+    message_type: 'sensor_msgs/msg/CompressedImage'
+    external: false
+    link: 'i01.head.eyeLeft_link'
+
 firmware:
   source_dir: micro_ros_raspberrypi_pico_sdk
   build_dir: build