Add LogicalCameraImage support

[Dyst-0]

🎉 New feature

Closes #697

Summary

ros_gz_bridge now supports gz.msgs.LogicalCamera image <-> ros_gz_interfaces.msg.LogicalCameraImage.

Test it

Test gz to ros conversion

1: Run parameter_bridge for /logical_camera between gz and ros

ros2 run ros_gz_bridge parameter_bridge /logical_camera_image@ros_gz_interfaces/msg/LogicalCameraImage@gz.msgs.LogicalCameraImage

2: In a new terminal, run

ros2 topic echo /logical_camera

3: In another terminal, publish the message from gz

gz topic -t /logical_camera -m gz.msgs.LogicalCameraImage -p 'header: { stamp: { sec: 0, nsec: 0 }, data: [ { key: "frame_id", value: ["logical_camera"] } ] }, pose: { position: { x: 1.0, y: 2.0, z: 3.0 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } }, model: [ { name: "model_1", pose: { position: { x: 4.0, y: 5.0, z: 6.0 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } } },  { name: "model_2", pose: { position: { x: 7.0, y: 8.0, z: 9.0 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } } }]'

In the terminal listening to /logical_camera, the output should be

header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: logical_camera
pose:
  position:
    x: 1.0
    y: 2.0
    z: 3.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0
model:
- name: model_1
  pose:
    position:
      x: 4.0
      y: 5.0
      z: 6.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
- name: model_2
  pose:
    position:
      x: 7.0
      y: 8.0
      z: 9.0
    orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
---

Test ros to gz conversion

1: Run parameter_bridge for /logical_camera between gz and ros

ros2 run ros_gz_bridge parameter_bridge /logical_camera_image@ros_gz_interfaces/msg/LogicalCameraImage@gz.msgs.LogicalCameraImage

2: In another terminal, listen to the gz topic /logical_camera

gz topic -e -t /logical_camera

3: Publish the ros message

ros2 topic pub /logical_camera ros_gz_interfaces/msg/LogicalCameraImage \
"{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'logical_camera'}, \
pose: {position: {x: 1.0, y: 2.0, z: 3.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}, \
model: [{name: 'model_1', pose: {position: {x: 4.0, y: 5.0, z: 6.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}, \
{name: 'model_2', pose: {position: {x: 7.0, y: 8.0, z: 9.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}]}" --once

In the terminal listening to /logical_camera, the output should be

header {
  stamp {
  }
  data {
    key: "frame_id"
    value: "logical_camera"
  }
}
pose {
  position {
    x: 1
    y: 2
    z: 3
  }
  orientation {
    w: 1
  }
}
model {
  name: "model_1"
  pose {
    position {
      x: 4
      y: 5
      z: 6
    }
    orientation {
      w: 1
    }
  }
}
model {
  name: "model_2"
  pose {
    position {
      x: 7
      y: 8
      z: 9
    }
    orientation {
      w: 1
    }
  }
}

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[Dyst-0]

Apologies for the commit mess.

[ahcorde]

CI is failing https://build.ros2.org/job/Rpr__ros_gz__ubuntu_noble_amd64/268/console

[Dyst-0]

@ahcorde can this be backported to jazzy?

[ahcorde]

https://github.com/Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #699 Add LogicalCameraImage support (backport #698) has been created for branch jazzy