It appears that the ROS_Camera prim is attached by default to the active viewport camera and that this cannot be changed. It would be very useful to be able to associate a ROS_Camera with an arbitrary Camera prim. This would allow you to send the viewport and a camera (or cameras) mounted on the robot to different ROS topics. Is there some way to currently do this that I am missing or if not, can this be added?
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@Simulacrum currently this is not supported, only the active camera in the viewport is published.
This will be possible in the next release as it is required for many robotics applications :)