Add optical frame publisher

[iche033]

Code adapted from here for ROS2.

Image data published by Ignition is in robot body frame (x forward, y left, z up) so added a optical_frame_publisher node that takes the existing msg data, convert it to optical frame (x right, y down, z forward) by broadcasting a new frame id with _optical suffix, and republishing the msg with updated frame_id.

To test, spawn the UAV as usual, and list the topics to see the new */optical/image_raw and */optical/camera_info topics. You can also echo the */optical/camera_info topic to see that the its frame_id has the _optical suffix.

Signed-off-by: Ian Chen ichen@openrobotics.org

[caguero]

Works for me and I can see the new topics.