Closes #65 ## What and why A camera in the simulation for object detection (#40), visual SLAM (#20) and student applications before the real robot has one. It is temporary and simulation-only: the model of the real robot does not change. - xacro argument `camera` (default `false`) includes `camera.xacro`. `[sim_robot.launch.py](http://sim_robot.launch.py/)` (and so `[sim.launch.py](http://sim.launch.py/)`) has a launch argument `camera`, default `true`; `[robot.launch.py](http://robot.launch.py/)` / `[hw.launch.py](http://hw.launch.py/)` do not enable it. A separate argument, not `sim_mode`: a real camera will be enabled on the robot the same way. - Sensor: 640×480 at 30 Hz instead of 1920×1080 (#32), the noise is kept. The numbers are written in `camera.xacro` directly, as in `lidar.xacro`, not as xacro properties: they are used once, next to their tags. - Mount: a temporary one, until the real camera is chosen, in `camera.xacro` (a comment says so), as the lidar mount is in `lidar.xacro`. The camera is on the front face of the body (x 0.11, z 0.09 from `base_link`), below the top of the body (z 0.112 by the mesh), so it does not block the lidar (z 0.12). - Bridge, as in `turtlebot3_gazebo`: `image_bridge` (`ros_gz_image`) in `[sim_robot.launch.py](http://sim_robot.launch.py/)` for `/camera/image_raw`, as it adds the `image_transport` topics (compressed, ...), runs only with the camera; `/camera/camera_info` in `gz_bridge.yaml` with the other topics. `frame_id` is the optical frame `camera_rgb_frame` (REP 103). The Gazebo topics get the `robot_ns` prefix (#64), the ROS topics are `/camera/...` in any case: `image_transport` names its topics from the topic before the remapping, so each transport (compressed, compressedDepth, theora, zstd) is remapped. - RViz: a *Camera* display of `/camera/image_raw` (`Reliable`), disabled by default (the same config is used for the real robot). - README: the camera topics and `camera:=false` in *Simulation on a PC*. ## How it was tested - [x] simulation - [ ] real robot (overlay or branch image) Simulation (`[sim.launch.py](http://sim.launch.py/)`, headless on an NVIDIA GPU, empty world unless stated): - Rate by the header stamps over 10 s after a warm-up: 30.3 Hz in Gazebo (camera and lidar, no frame skipped), 30.3 Hz for a `reliable` subscriber of `/camera/image_raw` and for `/camera/image_raw/compressed`. A `best effort` subscriber of the raw image (as `ros2 topic hz`) gets 26–27.5 Hz: a frame of 921 kB is many DDS fragments, and best effort does not resend a lost one. The publisher (`image_bridge`) is `reliable`, so the RViz display is `Reliable` too. 640×480 `rgb8`, `frame_id` `camera_rgb_frame`; the `image_transport` topics (compressed, ...) are there. - TF `base_link` → `camera_rgb_frame`: xyz 0.11 0 0.09, rpy −π/2 0 −π/2. - Orientation, with boxes 1.5 m in front of the robot: a red one straight ahead is in the horizontal centre of the image (x 320 of 640), a green one to the left (+y) is on the left (x 153), a blue one above is above (y 158 against 286); the horizon is in the middle of the image, the ground below it. - `camera:=false`: no camera in Gazebo and no `camera_link` in `robot_description`; only the empty `/camera/camera_info` of the bridge config stays (no publisher in Gazebo). - `xacro robot.urdf.xacro sim_mode:=false` (as `[robot.launch.py](http://robot.launch.py/)`): no `camera_link`. - `warehouse` real time factor: 1.00 with the camera, 1.00 without it (average over 20 s). - RViz (`view_robot.rviz` with the *Camera* display ticked, `warehouse`): the image is upright, looks forward and follows the robot when it turns. - KPI Rover hub arena (`garden`, `robot_ns:=user01 load_controllers:=false`): Gazebo topics `/user01/camera/image_raw`, `/user01/camera/camera_info`; in the session `/camera/image_raw`, `/camera/camera_info` and the `image_transport` topics `/camera/image_raw/compressed`, ... at 29.8–30.3 Hz. The arena steps 10 ms, so the gaps between frames are 30 or 40 ms. - KPI Rover hub, a new user from the first login (`user03`): KPI Rover GUI → Shared arena → Join → Put in, then RViz with the *Camera* display ticked shows the garden from the robot. Real robot: nothing changes for it, the camera is off by default in `[description.launch.py](http://description.launch.py/)`. ## Checklist - [x] One topic per PR - [x] README / docs updated if the behaviour or the usage changed - [ ] Breaking change (topics, parameters, launch arguments used by applications) is marked with `!` in the title

Namespace of the simulated robot for a shared simulation #64

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