Ignition: Missing IR intensity sensors

[Gior26]

Describe the bug
Using Gazebo Ignition under the /ir_intensity topic data from the 7 sensors is missing.
Only data from the base_link frame is available and it is positioned on the left side of the robot.

To Reproduce
Steps to reproduce the behavior:

1. ros2 launch irobot_create_ignition_bringup create3_ignition.launch.py
2. Add an object with collision
3. ros2 topic echo /ir_intensity
4. Only IR data from base_link is available

Expected behavior
Under /ir_intensity data from all 7 IR sensors should be available

Screenshots

Additional context

• Passing argument gazebo:=ignition didn't solve the issue.
• IR sensors works with gazebo classic.
• OS: Ubuntu 22.04.2
• Gazebo: Ignition Fortress
• ROS: Ros Humble

Libraries and log

[alsora]

If you do ros2 topic list --include-hidden you should see the following topics
https://github.com/iRobotEducation/create3_sim/blob/main/irobot_create_ignition/irobot_create_ignition_bringup/config/sensors_params.yaml#L16-L23

These topics contain the "raw" IR data that is then fused in the ir_intensity topic.
Can you try to echo them ? This should help understand where the problem is.

[Gior26]

Here's the log for _internal/ir_intensity_front_center_left/scan and _internal/ir_intensity_front_center_left.

I'm noticing that timestamp inside _internal/ir_intensity_front_center_left are always 0, I don't know if that may be the issue.

[Gior26]

Here's the output from all the _internal/ir_intensity_xxx/scan

• ir_intensity_front_center_left_scan.txt
• ir_intensity_front_center_right_scan.txt
• ir_intensity_front_left_scan.txt
• ir_intensity_front_right_scan.txt
• ir_intensity_left_scan.txt
• ir_intensity_right_scan.txt
• ir_intensity_side_left_scan.txt