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1---
2- ros_topic_name: "clock"
3 gz_topic_name: "/clock"
4 ros_type_name: "rosgraph_msgs/msg/Clock"
5 gz_type_name: "gz.msgs.Clock"
6 direction: GZ_TO_ROS
7
8- ros_topic_name: "cmd_vel"
9 gz_topic_name: "/model/simple_bot/cmd_vel"
10 ros_type_name: "geometry_msgs/msg/Twist"
11 gz_type_name: "gz.msgs.Twist"
12 direction: ROS_TO_GZ
13
14- ros_topic_name: "odom"
15 gz_topic_name: "/model/simple_bot/odometry"
16 ros_type_name: "nav_msgs/msg/Odometry"
17 gz_type_name: "gz.msgs.Odometry"
18 direction: GZ_TO_ROS
19
20- ros_topic_name: "joint_states"
21 gz_topic_name: "/gz/joint_states"
22 ros_type_name: "sensor_msgs/msg/JointState"
23 gz_type_name: "gz.msgs.Model"
24 direction: GZ_TO_ROS
25
26- ros_topic_name: "tf"
27 gz_topic_name: "/gz_odom"
28 ros_type_name: "tf2_msgs/msg/TFMessage"
29 gz_type_name: "gz.msgs.Pose_V"
30 direction: GZ_TO_ROS