Add a simulated RGB camera to the Gazebo sim#16
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Add a gz camera sensor (use_sim branch only) that publishes /image_raw and /camera_info in frame camera_optical_link, mirroring the simulated lidar, so camera perception (L1) can be developed and tested headless. Sim params live in robot.yaml's camera.sim block (FOV matched to the calibrated real lens); sim_launch.py bridges the two topics; the sim smoke test now asserts /image_raw. Non-sim URDF output is unchanged. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Add a gz camera sensor (use_sim branch only) that publishes
/image_rawand/camera_infoin framecamera_optical_link, mirroring the simulated lidar, so camera perception (L1) can be developed and tested headless. Sim params live inrobot.yaml's camera.sim block (FOV matched to the calibrated real lens);sim_launch.pybridges the two topics; the sim smoke test now asserts/image_raw. Non-sim URDF output is unchanged.