add config template to ros bridge

Author: hmoyen

models/dave_sensor_models/config/blueview_p900/sensor_config.py

@@ -0,0 +1,45 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # Bridge
+    bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        arguments=[
+            "/sensor/camera@sensor_msgs/msg/Image@gz.msgs.Image",  # for the multibeam world
+            "/sensor/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo",  # for the multibeam world
+            "/sensor/depth_camera@sensor_msgs/msg/Image@gz.msgs.Image",  # for the multibeam world
+            "/sensor/multibeam_sonar/point_cloud2@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked",  # the point cloud bridge, must match the model.sdf
+        ],
+        output="screen",
+    )
+
+    tf_node = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        arguments=[
+            "--frame-id",
+            "world",
+            "--child-frame-id",
+            "blueview_p900/blueview_p900_base_link/multibeam_sonar",
+        ],
+    )
+
+    return LaunchDescription([bridge, tf_node])

models/dave_sensor_models/launch/upload_sensor.launch.py

@@ -1,10 +1,16 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, RegisterEventHandler, LogInfo
+from launch.actions import (
+    DeclareLaunchArgument,
+    RegisterEventHandler,
+    LogInfo,
+    IncludeLaunchDescription,
+)
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch.conditions import IfCondition
 from launch_ros.substitutions import FindPackageShare
 from launch.event_handlers import OnProcessExit
 from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
@@ -76,7 +82,7 @@ def generate_launch_description():
         [
             FindPackageShare("dave_sensor_models"),
             "description",
-            namespace,
+            LaunchConfiguration("namespace"),
             "model.sdf",
         ]
     )
@@ -126,6 +132,22 @@ def generate_launch_description():
         parameters=[{"use_sim_time": use_sim_time}],
     )
 
+    sensor_config = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("dave_sensor_models"),
+                    "config",
+                    LaunchConfiguration("namespace"),
+                    "sensor_config.py",
+                ]
+            )
+        ),
+        launch_arguments={
+            "namespace": namespace,
+        }.items(),
+    )
+
     nodes = [tf2_spawner, gz_spawner]
 
     event_handlers = [
@@ -134,4 +156,4 @@ def generate_launch_description():
         )
     ]
 
-    return LaunchDescription(args + nodes + event_handlers)
+    return LaunchDescription(args + nodes + event_handlers + [sensor_config])