How to publish a CameraInfo topic next to a Image

[bastianhjaeger]

With ROS2 cameras, usually there is a CameraInfo message published with each image.

E.g.

/camera/image_raw
/camera/camera_info

How can I do this with https://github.com/rapyuta-robotics/RapyutaSimulationPlugins ?
I see that rclUE has some UROS2CameraInfoMsg, but not suree how to use.

[yuokamoto]

Currently camera component does not have publisher for those msg.
it is required to add those publisher to CameraComponent t
https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/devel/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp

[bastianhjaeger]

I am willing to implement such a thing. Maybe you can give me some pointers on how I would add a 2nd publishing entity to https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/devel/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp

[yuokamoto]

Thanks for your help.
https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/blob/01c5cc8d26949a20741bebfb7d17d6cd7c5982b2/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2OverlapSensorComponent.cpp#L25C5-L25C19

This overlapsensor has additional publisher