fixed camera down camera calibration for all robots

[fmessmer]

@ipa-bnm
applies #614 to all robots

[ipa-nhg]

did you check if the point cloud vs tf are also correct on simulation?

[fmessmer]

@ipa-nhg, no, I didn't test in simulation, I was just applying @ipa-bnm's PR to all other robots...
I guess we can consider this when working on https://github.com/ipa320/cob_common/pull/206. For now, it seems to be correct with Hardware...but it might never have been correct in simulation...so nothing breaks here!

[ipa-nhg]

realsense is a special case, If you look the urdf file of the realsense camera https://github.com/ipa320/cob_common/blob/indigo_dev/cob_description/urdf/sensors/realsense.urdf.xacro we are not defining the optical frames, the realsense_driver is the responsible of the transformations https://github.com/intel-ros/realsense/blob/indigo-devel/realsense_camera/launch/r200_nodelet_rgbd.launch#L40 , but on simulation we are using a standard gazebo plugin. Theoretically the x-axis for the camera_link should point to the "view direction", but I am not sure if realsense is following also this standard.

Maybe we should set the parameter publish_tf to false and define the frames in the URDF file to make if working on simulation (?).

[benmaidel]

Theoretically the x-axis for the camera_link should point to the "view direction", but I am not sure if realsense is following also this standard.

realsense is following the Standard. The x axis of camera_link should point into view direction and the z axis of the optical frame should point into view direction as well. See my first comment here #614

Maybe we should set the parameter publish_tf to false and define the frames in the URDF file to make if working on simulation (?).

We should not disable publish_tf and add the frames to urdf. The realsense driver reads the camera calibration from the hardware and creates static_transform_broadcaster for these calibration values.

Perhaps we could create one urdf for simulation and one for the real hardware?

[ipa-nhg]

Realsense is not working on simulation, neither with the old version. This pull request can be merged and I will open a new issue for the simulation.

[fmessmer]

related issue is https://github.com/ipa320/cob_common/issues/212