相机 robonix/primitive/camera

接口

契约 ID（`contract_id`）	模式	载荷（IDL）	契约 TOML
`robonix/primitive/camera/rgb`	`pub-sub (out)` / `rpc_server_stream`	`sensor_msgs/Image`	`primitive/camera_rgb.v1.toml`
`robonix/primitive/camera/depth`	`pub-sub (out)` / `rpc_server_stream`	`sensor_msgs/Image`	`primitive/camera_depth.v1.toml`
`robonix/primitive/camera/ir`	`pub-sub (out)`	`sensor_msgs/Image`	—
`robonix/primitive/camera/intrinsics`	`pub-sub (out)`	`sensor_msgs/CameraInfo`	—
`robonix/primitive/camera/rgbd`	`pub-sub (out)`	`robonix_msg/RGBD`	—
`robonix/primitive/camera/snapshot`	`rpc`	`std_msgs/Empty` → `sensor_msgs/Image`	`primitive/camera_snapshot.v1.toml`
`robonix/primitive/camera/depth_snapshot`	`rpc`	`std_msgs/Empty` → `sensor_msgs/Image`	`primitive/camera_depth_snapshot.v1.toml`