How to use ros_gz_bridge in roslaunch with conf yaml and readme issue ?

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Hi !

• First remark : would there be a typo mistake on the readme page of ros_gz_bridge ?

I believe, in the equivalence array, all sensor_msgs messages

sensor_msgs/BatteryState,sensor_msgs/CameraInfo ,sensor_msgs/FluidPressure ,sensor_msgs/Image ,sensor_msgs/Imu ,sensor_msgs/JointState, sensor_msgs/LaserScan ,sensor_msgs/MagneticField ,sensor_msgs/NavSatFix ,sensor_msgs/PointCloud2

should have an extra /msgs/ in the path to work. Example : sensor_msgs /msgs/ Imu

At least, it works only this way for me and took me a few hours to figure it out.

• Also, I am trying to launch the bridge using a YAML file, like explained in the readme.

My config works well from command line :

ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/colcon_ws/install/trr_bringup/share/trr_bringup/config/gz_bridge.yaml

But I can't get it work from a roslaunch. It's a simple question of YAML arguments declaration but can't figure it out

I tried :

 # Gz Sim-ROS2 Bridge
    bridge = Node(
        package='ros_gz_bridge',
        executable='parameter_bridge',
        arguments=[
                 '--ros-args -p config_file:='+os.path.join(pkg_trr_bringup, 'config', 'gz_bridge.yaml')
                ],
        output='screen'
    )

Any idea