fix(autoware_carla_interface): publish every camera type, not only sensor.camera.rgb (#13409)

The spawn path accepts any sensor.camera.* blueprint and the publisher
lookup matches the same prefix, but publisher creation and the publish
dispatch compared the type exactly against sensor.camera.rgb. A mapping
naming CARLA's depth or semantic segmentation camera therefore spawned
the sensor, got a "Unknown sensor type" warning instead of publishers,
and then dropped every frame it produced into a debug log.

These cameras deliver the same BGRA frame through the same callback and
want the same pair of image/camera_info publishers, so match the prefix
in both places, as the other two paths already do.

Claude-Session: https://claude.ai/code/session_011TMdPd8VUDxUrFtckxg2AQ

Signed-off-by: ujinf74 <ujin@tukorea.ac.kr>

Author: ujinf74

simulator/autoware_carla_interface/README.md

@@ -298,6 +298,11 @@ reads, so it costs no information at all. A 1600x900 frame is 5,760,000 bytes as
 
 For CARLA sensor parameters, see [CARLA Sensor Reference](https://carla.readthedocs.io/en/latest/ref_sensors/).
 
+A `carla_type` of any `sensor.camera.*` is published as a camera: CARLA's depth
+and semantic segmentation cameras deliver the same BGRA frame through the same
+callback as the RGB one, and are published on the mapping's `topic_image` and
+`topic_info` with the encoded values untouched.
+
 ##### Capture Rate
 
 `frequency_hz` throttles what the bridge publishes; it does not change how often

simulator/autoware_carla_interface/src/autoware_carla_interface/carla_ros.py

@@ -1659,7 +1659,7 @@ def _publish_sensor_data(self, key, measurement, timestamp):
             )
             return
 
-        if sensor_type == "sensor.camera.rgb":
+        if sensor_type.startswith("sensor.camera"):
             if not self.checkFrequency(key, timestamp):
                 self.sensor_registry.update_sensor_timestamp(key, timestamp)
                 self._submit_to_publish_worker(key, self.camera, measurement, key, timestamp)

simulator/autoware_carla_interface/src/autoware_carla_interface/modules/ros_publisher_manager.py

@@ -124,7 +124,12 @@ def create_publisher_for_sensor(self, sensor_config: SensorConfig) -> bool:
         try:
             sensor_type = sensor_config.carla_type
 
-            if sensor_type == "sensor.camera.rgb":
+            # Any camera, not only the rgb one. CARLA's depth and semantic
+            # segmentation cameras deliver the same BGRA frame through the same
+            # callback and want the same pair of publishers. Matching the type
+            # exactly meant a mapping could name one, have it spawned, and then
+            # lose every frame it produced with only a warning to say so.
+            if sensor_type.startswith("sensor.camera"):
                 return self._create_camera_publishers(sensor_config)
             elif sensor_type == "sensor.lidar.ray_cast":
                 return self._create_lidar_publisher(sensor_config)