Merge pull request #50 from lge-ros2/main

Merge 'main' branch into 'foxy'

cloisim_ros_bringup/src/main.cpp

@@ -41,7 +41,7 @@ void bringup_target_parts_by_name(const Json::Value item, const string node_type
 
     cloisim_ros::BringUpParam::StoreBridgeInfosAsParameters(item, node_options);
 
-    num_of_threads_t num_of_threads = 2; // default tf and tf_static for robot specific type
+    num_of_threads_t num_of_threads = 1; // default tf and tf_static for robot specific type
 
     if (cloisim_ros::BringUpParam::IsRobotSpecificType(node_type))
     {

cloisim_ros_camera/README.md

@@ -1,7 +1,32 @@
 # CLOiSim-ROS Camera
 
+## options
+
 support ros remapping, --ros-args -r /test:=test
 
+## how to bringup
+
+you need to edit SDF model file and add plugin in `<sensor>` element. please refer to [here](https://github.com/lge-ros2/sample_resources/blob/2077dfaaf7248d0a930f814db23b1c17f3e79b8c/models/robot_camera/model.sdf#L70) as en exmaple.
+
+This filename in `<plugin>` element enables to connect cloisim_ros_camera.
+
+```xml
+<sensor name='camera' type='camera'>
+  ....
+  ...
+  ..
+  .
+  <plugin name='CameraPlugin' filename='libCameraPlugin.so'>
+    <ros2>
+      <topic_name>color</topic_name>
+      <frame_id>camera_link</frame_id>
+    </ros2>
+  </plugin>
+</sensor>
+```
+
+
+## how to run
 ```shell
 ros2 run cloisim_ros_camera standalone
 ```