fix camera

src/rm_hardware_driver/ros2_hik_camera/src/hik_camera_node.cpp

@@ -377,7 +377,37 @@ private:
         continue;
       }
 
-      // Ensure output buffer
+      // Handle different pixel formats
+      // Mono8 (0x1080009) needs to be converted to RGB8 by duplicating the channel
+      // RGB8 (PixelType_Gvsp_RGB8_Packed = 0x02100014) can be used directly
+      const bool is_mono8 = (out_frame.stFrameInfo.enPixelType == 0x1080009);
+      const bool is_rgb8 = (out_frame.stFrameInfo.enPixelType == 0x02100014);
+
+      if (is_mono8) {
+        // Convert Mono8 to RGB8 by duplicating the single channel
+        const size_t mono_size = static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight;
+        const size_t rgb_size = mono_size * 3;
+        if (image_msg_.data.size() != rgb_size) {
+          image_msg_.data.resize(rgb_size);
+        }
+        uint8_t* src = static_cast<uint8_t*>(out_frame.pBufAddr);
+        uint8_t* dst = image_msg_.data.data();
+        for (size_t i = 0; i < mono_size; i++) {
+          dst[i * 3 + 0] = src[i];  // B
+          dst[i * 3 + 1] = src[i];  // G
+          dst[i * 3 + 2] = src[i];  // R
+        }
+        image_msg_.encoding = "rgb8";
+      } else if (is_rgb8) {
+        // Already RGB8, just copy directly
+        const size_t rgb_size = static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight * 3;
+        if (image_msg_.data.size() != rgb_size) {
+          image_msg_.data.resize(rgb_size);
+        }
+        memcpy(image_msg_.data.data(), out_frame.pBufAddr, rgb_size);
+        image_msg_.encoding = "rgb8";
+      } else {
+        // Try SDK conversion for other formats
         const size_t need_size =
           static_cast<size_t>(out_frame.stFrameInfo.nWidth) * out_frame.stFrameInfo.nHeight * 3;
         if (image_msg_.data.size() != need_size) {
@@ -409,6 +439,8 @@ private:
           fail_count_++;
           continue;
         }
+        image_msg_.encoding = "rgb8";
+      }
 
       auto stamp = this->now();
       image_msg_.header.stamp = stamp;