gz_bridge.yaml

# For detailed information on configuring the parameter_bridge, please refer to:
# https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge#example-5-configuring-the-bridge-via-yaml

- topic_name: /clock
  ros_type_name: rosgraph_msgs/msg/Clock
  gz_type_name: ignition.msgs.Clock
  direction: GZ_TO_ROS

- ros_topic_name: battery/battery_status
  gz_topic_name: /model/<model_name>/battery/<namespace>/battery/state
  ros_type_name: sensor_msgs/msg/BatteryState
  gz_type_name: ignition.msgs.BatteryState
  direction: GZ_TO_ROS

- topic_name: cmd_vel
  ros_type_name: geometry_msgs/msg/Twist
  gz_type_name: ignition.msgs.Twist
  direction: GZ_TO_ROS

- ros_topic_name: lights/channel_1_frame
  gz_topic_name: <namespace>/lights/channel_1_frame
  ros_type_name: sensor_msgs/msg/Image
  gz_type_name: ignition.msgs.Image
  direction: ROS_TO_GZ

- ros_topic_name: lights/channel_2_frame
  gz_topic_name: <namespace>/lights/channel_2_frame
  ros_type_name: sensor_msgs/msg/Image
  gz_type_name: ignition.msgs.Image
  direction: ROS_TO_GZ