# amr_bridge_no_camera.yaml
#
# Same as amr_bridge.yaml but WITHOUT the Gazebo RGB-D camera bridges.
# Used by the shadow-AMR demo (`agenticros up sim-amr --real-camera`):
# RealSense owns /camera/camera/... after real_camera_overlay.py restamps
# it into the sim AMR's camera_optical_link frame. Bridging gz camera
# topics onto those names would fight the live camera.
#
# Field reference: https://github.com/gazebosim/ros_gz/blob/humble/ros_gz_bridge/README.md

# ---------------- cmd_vel (ROS -> GZ) ----------------
- ros_topic_name: "/cmd_vel"
  gz_topic_name: "/model/agenticros_amr/cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: ROS_TO_GZ

# ---------------- odometry (GZ -> ROS) ----------------
- ros_topic_name: "/odom"
  gz_topic_name: "/odometry_with_covariance"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.OdometryWithCovariance"
  direction: GZ_TO_ROS

# ---------------- /tf  (GZ -> ROS) ----------------
- ros_topic_name: "/tf"
  gz_topic_name: "/tf"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS

# ---------------- pose info (GZ -> ROS) ----------------
- ros_topic_name: "/tf_static"
  gz_topic_name: "/model/agenticros_amr/pose_static"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS

# ---------------- joint states (GZ -> ROS) ----------------
- ros_topic_name: "/joint_states"
  gz_topic_name: "/joint_states"
  ros_type_name: "sensor_msgs/msg/JointState"
  gz_type_name: "gz.msgs.Model"
  direction: GZ_TO_ROS

# ---------------- 2D LIDAR (GZ -> ROS) ----------------
- ros_topic_name: "/scan"
  gz_topic_name: "/scan"
  ros_type_name: "sensor_msgs/msg/LaserScan"
  gz_type_name: "gz.msgs.LaserScan"
  direction: GZ_TO_ROS

# ---------------- IMU (GZ -> ROS) ----------------
- ros_topic_name: "/imu/data"
  gz_topic_name: "/imu"
  ros_type_name: "sensor_msgs/msg/Imu"
  gz_type_name: "gz.msgs.IMU"
  direction: GZ_TO_ROS

# ---------------- 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