I am trying to add noise to the camera that I am using with Carter. I see that a relevant tutorial has been available on Omniverse website but only for ROS1 (Link: Add Noise to Camera — Omniverse IsaacSim latest documentation).
How can I implement the same in ROS2 (Humble)? Is there a similar documentation available for ROS2 or perhaps a repository for the script used in ROS1 tutorial?
We haven’t specifically tested adding noise to a camera in ROS2, but you can adapt existing examples to achieve this.
You can start by modifying the omni.isaac.ros_bridge.ROS1PublishImage component found in the script located at standalone_examples/api/omni.isaac.ros_bridge/camera_noise.py. Change it to omni.isaac.ros_bridge.ROS2PublishImage to work with ROS2.
For handling ROS2 messages, you can refer to examples like carter_stereo.py or other camera_*.py scripts in the standalone_examples/api/omni.isaac.ros2_bridge/ directory. These examples demonstrate how to manage camera data in ROS2, and can serve as a useful guide for your implementation.
Feel free to reach out if you encounter any issues or need further assistance.