From 4a3db5cb2af7c13beaea161b9df3a53f1c6e559f Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Tue, 5 Dec 2023 15:36:20 +0100
Subject: [PATCH] fixed clock | added camera

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 rosbot_description/urdf/rosbot.urdf.xacro |  3 ++-
 rosbot_gazebo/config/gz_remappings.yaml   |  9 ++++----
 rosbot_gazebo/launch/spawn.launch.py      | 27 -----------------------
 3 files changed, 7 insertions(+), 32 deletions(-)

diff --git a/rosbot_description/urdf/rosbot.urdf.xacro b/rosbot_description/urdf/rosbot.urdf.xacro
index 0437a355..2af6796f 100644
--- a/rosbot_description/urdf/rosbot.urdf.xacro
+++ b/rosbot_description/urdf/rosbot.urdf.xacro
@@ -31,6 +31,7 @@
         parent_link="camera_link"
         xyz="0.0 0.0 0.0"
         rpy="0.0 0.0 0.0"
+        namespace="$(arg namespace)"
         simulation_engine="$(arg simulation_engine)" />
-    </xacro:unless>
+
 </robot>
diff --git a/rosbot_gazebo/config/gz_remappings.yaml b/rosbot_gazebo/config/gz_remappings.yaml
index ae2790ac..6f7a6730 100644
--- a/rosbot_gazebo/config/gz_remappings.yaml
+++ b/rosbot_gazebo/config/gz_remappings.yaml
@@ -1,3 +1,8 @@
+- topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "ignition.msgs.Clock"
+  direction: GZ_TO_ROS
+
 - topic_name: "<robot_namespace>/scan"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
@@ -18,10 +23,6 @@
   ros_type_name: "sensor_msgs/msg/PointCloud2"
   gz_type_name: "ignition.msgs.PointCloudPacked"
 
-- topic_name: "<robot_namespace>/clock"
-  ros_type_name: "rosgraph_msgs/msg/Clock"
-  gz_type_name: "ignition.msgs.Clock"
-
 - topic_name: "<robot_namespace>/range/fl"
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "ignition.msgs.LaserScan"
diff --git a/rosbot_gazebo/launch/spawn.launch.py b/rosbot_gazebo/launch/spawn.launch.py
index e65e92eb..e2efc611 100644
--- a/rosbot_gazebo/launch/spawn.launch.py
+++ b/rosbot_gazebo/launch/spawn.launch.py
@@ -133,32 +133,6 @@ def generate_launch_description():
         }.items(),
     )
 
-    # The frame of the pointcloud from ignition gazebo 6 isn't provided by <frame_id>.
-    # See https://github.com/gazebosim/gz-sensors/issues/239
-    depth_cam_frame_fixer = Node(
-        package="tf2_ros",
-        executable="static_transform_publisher",
-        name="depth_to_camera",
-        output="log",
-        arguments=[
-            "0.0",
-            "0.0",
-            "0.0",
-            "1.57",
-            "-1.57",
-            "0.0",
-            "camera_depth_optical_frame",
-            LaunchConfiguration(
-                "gazebo_frame", default=[robot_name, "/base_link/camera_orbbec_astra_camera"]
-            ),
-        ],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
-        namespace=namespace,
-    )
-
     return LaunchDescription(
         [
             declare_namespace_arg,
@@ -171,6 +145,5 @@ def generate_launch_description():
             ign_bridge,
             gz_spawn_entity,
             bringup_launch,
-            depth_cam_frame_fixer,
         ]
     )