Refactor triggered_camera demo (#645)

Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: Alejandro Hernández Cordero <[email protected]>

ros_gz_sim_demos/README.md

@@ -56,7 +56,7 @@ Using the regular bridge:
 
 To use a camera that only publishes information when triggered:
 
-    ros2 launch ros_gz_sim_demos triggered_camera.launch.py
+    ros2 launch ros_gz_sim_demos triggered_camera.launch.xml
 
 Trigger the camera:
 

ros_gz_sim_demos/config/triggered_camera.yaml

@@ -0,0 +1,18 @@
+# triggered_cammera configuration.
+- topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera/trigger"
+  ros_type_name: "std_msgs/msg/Bool"
+  gz_type_name: "gz.msgs.Boolean"
+  lazy: true
+  direction: ROS_TO_GZ

ros_gz_sim_demos/launch/triggered_camera.launch.xml

@@ -0,0 +1,13 @@
+<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" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id camera_link  --child-frame-id camera/link/camera --roll 1.570796327 --yaw 1.570796327" />
+  <executable cmd="gz sim -g" />
+</launch>