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# Clock (GZ -> ROS)
- ros_topic_name: "/clock"
gz_topic_name: "/clock"
ros_type_name: "rosgraph_msgs/msg/Clock"
gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS
# ---------- Drone 1 (x500_depth_0) ----------
- ros_topic_name: "/drone1/camera"
gz_topic_name: "/world/default/model/x500_depth_0/link/OakD-Lite/base_link/sensor/IMX214/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
- ros_topic_name: "/drone1/camera_info"
gz_topic_name: "/world/default/model/x500_depth_0/link/OakD-Lite/base_link/sensor/IMX214/camera_info"
ros_type_name: "sensor_msgs/msg/CameraInfo"
gz_type_name: "gz.msgs.CameraInfo"
- ros_topic_name: "/drone1/depth_camera"
gz_topic_name: "/world/default/model/x500_depth_0/link/OakD-Lite/base_link/sensor/StereoOV7251/depth_image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
- ros_topic_name: "/drone1/depth_points"
gz_topic_name: "/world/default/model/x500_depth_0/link/OakD-Lite/base_link/sensor/StereoOV7251/depth_image/points"
ros_type_name: "sensor_msgs/msg/PointCloud2"
gz_type_name: "gz.msgs.PointCloudPacked"
- ros_topic_name: "/drone1/imu"
gz_topic_name: "/world/default/model/x500_depth_0/link/base_link/sensor/imu_sensor/imu"
ros_type_name: "sensor_msgs/msg/Imu"
gz_type_name: "gz.msgs.IMU"
# ---------- Drone 2 (x500_depth_1) ----------
- ros_topic_name: "/drone2/camera"
gz_topic_name: "/world/default/model/x500_depth_1/link/OakD-Lite/base_link/sensor/IMX214/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
- ros_topic_name: "/drone2/camera_info"
gz_topic_name: "/world/default/model/x500_depth_1/link/OakD-Lite/base_link/sensor/IMX214/camera_info"
ros_type_name: "sensor_msgs/msg/CameraInfo"
gz_type_name: "gz.msgs.CameraInfo"
- ros_topic_name: "/drone2/depth_camera"
gz_topic_name: "/world/default/model/x500_depth_1/link/OakD-Lite/base_link/sensor/StereoOV7251/depth_image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
- ros_topic_name: "/drone2/depth_points"
gz_topic_name: "/world/default/model/x500_depth_1/link/OakD-Lite/base_link/sensor/StereoOV7251/depth_image/points"
ros_type_name: "sensor_msgs/msg/PointCloud2"
gz_type_name: "gz.msgs.PointCloudPacked"
- ros_topic_name: "/drone2/imu"
gz_topic_name: "/world/default/model/x500_depth_1/link/base_link/sensor/imu_sensor/imu"
ros_type_name: "sensor_msgs/msg/Imu"
gz_type_name: "gz.msgs.IMU"