Add depth camera image topic mapping (#806)

Signed-off-by: Muhtasim Redwan <38636634+redwine-1@users.noreply.github.com>

Author: redwine-1

setup_guides/sensors/setup_sensors_gz.rst

@@ -288,6 +288,12 @@ We will also need to bridge the necessary sensor topics from Gazebo to ROS, add
     gz_type_name: "gz.msgs.PointCloudPacked"
     direction: GZ_TO_ROS
 
+   - ros_topic_name: "/depth_camera/image_raw"
+     gz_topic_name: "/depth_camera/image"
+     ros_type_name: "sensor_msgs/msg/Image"
+     gz_type_name: "gz.msgs.Image"
+     direction: GZ_TO_ROS
+
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