Currently, I have ROS2 Foxy-Fitzroy installed on Ubuntu 20.04. With a launch file I'm starting gazebo and loading a world. A python file then calls the service /spawnentity to place an robot into the world. The robot is given as an urdf file. The robot is correctly displayed in GAZEBO and rqt shows that some node is registered to publish data on the topic /customns/camera1/image_raw. Now, I could make the following observation:

• The terminal, in which Gazebo has been started, is showing the following warnings. Those explain, why the nodes are not registered on the topics /custom and /custom_info. Still, there should be data published.

[gzserver-1] [WARN] [1613167042.394499378] [rcl]: Found remap rule 'imageraw:=custom'. This syntax is deprecated. Use '--ros-args --remap imageraw:=custom' instead. [gzserver-1] [WARN] [1613167042.394738154] [rcl]: Found remap rule 'camerainfo:=custominfo'. This syntax is deprecated. Use '--ros-args --remap camerainfo:=custominfo' instead. [gzserver-1] [WARN] [1613167042.403082689] [rcl]: Found remap rule 'imageraw:=custom'. This syntax is deprecated. Use '--ros-args --remap imageraw:=custom' instead. [gzserver-1] [WARN] [1613167042.403119632] [rcl]: Found remap rule 'camerainfo:=custominfo'. This syntax is deprecated. Use '--ros-args --remap camerainfo:=custominfo' instead. [gzserver-1] [INFO] [1613167042.421325313] [customns.cameracontroller]: Publishing camera info to [/customns/camera1/camerainfo]

This is the code from the urdf:

  <gazebo reference="camera_link">
    <sensor type="camera" name="camera1">
      <update_rate>1</update_rate>
      <camera name="head">
        <horizontal_fov>1.2</horizontal_fov>
        <image>
          <width>420</width>
          <height>240</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
        </distortion>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace>custom_ns</namespace>
          <argument>image_raw:=custom</argument>
          <argument>camera_info:=custom_info</argument>
        </ros>
        <camera_name>camera1</camera_name>
        <frame_name>camera_link</frame_name>
        <hack_baseline>0.07</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

I migrated this from ROS1 according to the following guide: https://github.com/ros-simulation/gazeborospkgs/wiki/ROS-2-Migration:-Camera It still recommends using the upper notation for passing custom topics despite the warning in the terminal.

I would appreciate any help as there is no solution in sight after several days of work!