[BUG]: Real and simulated robots have different camera setups in ROS

[gcielniak]

Camera topics and tf in simulation

There is a divergence between the camera topics and tf tree between the real and simulated robot which causes some confusion when switching between the two in workshops and assignments. The topics from a real camera broadly correspond to a standard (e.g. RealSense drivers, see below) but simulated ones are strange and not really aligned. The same is true with the tf tree.

Before applying any changes, I would like to hear your opinion about the most sensible solution to bring these two together.

Camera topics:

• Real robot camera topics:

/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/theora
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/theora
/camera/depth/points
/camera/extrinsic/depth_to_color
/camera/ir/camera_info
/camera/ir/image_raw
/camera/ir/image_raw/compressed
/camera/ir/image_raw/compressedDepth
/camera/ir/image_raw/theora

• Simulated:

/limo/depth_camera_link/camera_info
/limo/depth_camera_link/depth/camera_info
/limo/depth_camera_link/depth/image_raw
/limo/depth_camera_link/image_raw
/limo/depth_camera_link/points

• RealSense driver:

/realsense2/camera/aligned_depth_to_color/camera_info 
/realsense2/camera/aligned_depth_to_color/image_raw /realsense2/camera/color/camera_info 
/realsense2/camera/color/image_raw 
/realsense2/camera/depth/camera_info 
/realsense2/camera/depth/image_rect_raw 
/realsense2/camera/ir/camera_info 
/realsense2/camera/ir/image_rect_raw 
/realsense2/camera/pointcloud 

Steps To Reproduce

List topics and tf tree for both real and simulated robots.

Additional Information

No response