Fixed gazebo camera depth not aligned with lidar

[matlabbe]

Description

As also observed in that post, in simulation, it seems the horizontal_fov parameter of rgbd_camera gazebo's sensor is not applied correctly either to published camera_info or how the rgb/depth images are captured in the simulator.

turtlebot4/turtlebot4_description/urdf/sensors/oakd.urdf.xacro

Lines 122 to 129 in 1d23084

	<!-- Gazebo links and joints -->
	<gazebo reference="${name}_rgb_camera_frame">
	<sensor name="rgbd_camera" type="rgbd_camera">
	<camera>
	<horizontal_fov>1.25</horizontal_fov>
	<image>
	<width>320</width>
	<height>240</height>

It seems that we have to use original fov value 1.047 instead of 1.25 (from this example) so that data published look fine. See comparison below.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Commands used to test:

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=false nav2:=true rviz:=true
ros2 run teleop_twist_keyboard teleop_twist_keyboard

then add DepthCloud plugin in rviz2 to show camera point cloud, and set global fixed frame to base_link.

With current value 1.25, we can see that the point cloud generated from the camera's depth is not aligned with the lidar (robot is not moving):

With the fix (setting value to 1.047), the alignment is as good as we could expect. Here the same point of view than above with this PR: