Ouster does not spawn gz_to_ros bridge in simulation

[calebchalmers]

Please provide the following information:

• OS: Ubuntu 24.04
• ROS 2 Distro: Jazzy
• Built from source or installed: Installed (apt)
• Package version: 2.8.4-1noble.20251117.211531
• Real hardware or simulation: Simulation

Expected behaviour
When running the simulation, I expect the LiDAR scan and points topics to be published in ROS2.

Actual behaviour
When running the simulation, no LiDAR topics are published.

To Reproduce

1. Run ros2 launch clearpath_gz simulation.launch.py
2. Run ros2 topic list
3. Observe that no LiDAR topics are published in ROS2.

Other notes
Basic example robot.yaml (for the Warthog platform):

serial_number: w200-0000
version: 0
system:
  hosts:
    - hostname: cpr-w200-0000
      ip: 192.168.131.1
  ros2:
    namespace: w200_0000
platform:
  attachments:
    - name: bulkhead
      type: w200.bulkhead
      model: default
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      enabled: true
sensors:
  lidar3d:
    - model: ouster_os1
      urdf_enabled: true
      launch_enabled: true
      parent: bulkhead_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ros_parameters:
        ouster_driver:
          sensor_hostname: 192.168.131.20
          udp_dest: 192.168.131.100
          lidar_port: 7502
          imu_port: 7503
          proc_mask: IMU|PCL|SCAN|IMG|RAW|TLM
          use_system_default_qos: false
          cap_type: fins
          base_type: base

As a workaround, I was able to spawn my own Gazebo to ROS bridge with the following command:
ros2 run ros_gz_bridge parameter_bridge /w200_0000/sensors/lidar3d_0/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan /w200_0000/sensors/lidar3d_0/scan/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked --ros-args -p use_sim_time:=true

This command successfully publishes the /w200_0000/sensors/lidar3d_0/scan and /w200_0000/sensors/lidar3d_0/scan/points topics using the data from the simulation.

Note: I also tried using a Velodyne sensor in simulation, and did not experience this issue.