Issue visualizing Depth image in rviz2

[EnzoGhisoni]

Environment

• OS Version: Ubuntu 22.04
• Binary build
• Version: Fortress version 6.16.0 and ROS2 Humble

Description

• Expected behavior:
  I try to add the depth sensors in the sdf of my robot in order to have the depth image available in ROS2.
• Actual behavior:
  I have the good output for the depth image in Gazebo Image display viewer:
  

But when I visualize it in rviz2 the image is fully black or is in reverse color pattern in function of the settings:

Steps to reproduce

I have implement the sensor in this way in my model.sdf:
`

    <sensor name="camera_center" type="depth_camera">
      <gz_frame_id>camera_base_link</gz_frame_id>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>0</visualize>
      <topic>/model/diff_drive/depth_camera</topic>
      <pose>0 0 0 0 -0 0</pose>
      <camera name="camera">
        <horizontal_fov>1</horizontal_fov>
        <image>
          <width>640</width>
          <height>360</height>
          <format>RGB_INT8</format>
        </image>
        <clip>
          <near>0.3</near>
          <far>50.0</far>
        </clip>
      </camera>
  </sensor>

I have this for the bridge:

• ros_topic_name: "/depth"
  gz_topic_name: "/model/diff_drive/depth_camera"
  ros_type_name: "sensor_msgs/msg/Image"
  gz_type_name: "gz.msgs.Image"
  direction: GZ_TO_ROS
  `

I'm not sure if the difference come from the encoding, the bridge or simply the rviz2 configuration (if it is it could be interesting to know the default settings to visualize the data).