Added Camera Info topic support for cameras

[ahcorde]

Signed-off-by: ahcorde [email protected]

🎉 New feature

Summary

Related with gazebosim/sdformat#1198

Added Camera Info topic support for cameras

Test it

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.

[iche033]

hmm I'm seeing a change in behavior in terms of default camera info topic names with this change.

I tried commenting out this <topic> line in sensors_demo.sdf here:
https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/sensors_demo.sdf#L327

before this change, I see these relevant topics

/camera_info
...
/world/lidar_sensor/model/cameras_alone/link/link/sensor/cameras_alone/camera_info
/world/lidar_sensor/model/cameras_alone/link/link/sensor/cameras_alone/image

after this change, I get

/camera_info
...
/world/lidar_sensor/model/cameras_alone/link/link/sensor/cameras_alone/image

I think that's because the camera_info element has a default value of camera_info
https://github.com/gazebosim/sdformat/blob/0afa966023d8b619b66777ef8f4620de7a4416d8/sdf/1.7/camera.sdf#L8

So in gz-sensors, the topic will always be set to camera_info

How about changing the default camera_info sdf element value to "" in sdformat? https://github.com/gazebosim/sdformat/blob/0afa966023d8b619b66777ef8f4620de7a4416d8/sdf/1.7/camera.sdf#L8

[iche033]

changes look good to me now. Needs an sdformat9 release

[ahcorde]

@osrf-jenkins run tests please!

[codecov]

Codecov Report

Merging #285 (430ea9a) into ign-sensors3 (425359e) will decrease coverage by 0.02%.
The diff coverage is 88.88%.

❗ Current head 430ea9a differs from pull request most recent head 6a0214c. Consider uploading reports for the commit 6a0214c to get more accurate results

@@               Coverage Diff                @@
##           ign-sensors3     #285      +/-   ##
================================================
- Coverage         79.80%   79.78%   -0.02%     
================================================
  Files                23       23              
  Lines              2377     2380       +3     
================================================
+ Hits               1897     1899       +2     
- Misses              480      481       +1     

Impacted Files	Coverage Δ
src/CameraSensor.cc	75.27% <88.88%> (-0.10%)	⬇️

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