Migrate gazebo plugin of camera to ROS2.

Reference: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Camera

husky_ws/src/husky/husky_description/urdf/accessories/intel_realsense.urdf.xacro

@@ -28,6 +28,7 @@
  <gazebo reference="${frame}">
  <turnGravityOff>true</turnGravityOff>
  <sensor type="depth" name="${prefix}_realsense_depth">
+ <always_on>1</always_on>
  <update_rate>${update_rate}</update_rate>
  <camera>
  <!-- 75x65 degree FOV for the depth sensor -->
@@ -45,29 +46,12 @@
  <far>50.0</far>
  </clip>
  </camera>
- <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
- <baseline>0.2</baseline>
- <alwaysOn>true</alwaysOn>
- <updateRate>${update_rate}</updateRate>
- <cameraName>${topic}</cameraName>
- <imageTopicName>color/image_raw</imageTopicName>
- <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_rect_raw</depthImageTopicName>
- <depthImageInfoTopicName>depth/camera_info</depthImageInfoTopicName>
- <pointCloudTopicName>depth/color/points</pointCloudTopicName>
- <frameName>${frame}_gazebo</frameName>
- <pointCloudCutoff>${min_range}</pointCloudCutoff>
- <pointCloudCutoffMax>${max_range}</pointCloudCutoffMax>
- <distortionK1>0.00000001</distortionK1>
- <distortionK2>0.00000001</distortionK2>
- <distortionK3>0.00000001</distortionK3>
- <distortionT1>0.00000001</distortionT1>
- <distortionT2>0.00000001</distortionT2>
- <CxPrime>0</CxPrime>
- <Cx>0</Cx>
- <Cy>0</Cy>
- <focalLength>0</focalLength>
- <hackBaseline>0</hackBaseline>
+ <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
+ <camera_name>${topic}</camera_name>
+ <frame_name>${frame}_gazebo</frame_name>
+ <min_depth>${min_range}</min_depth>
+ <max_depth>${max_range}</max_depth>
+ <hack_baseline>0</hack_baseline>
  </plugin>
  </sensor>
  </gazebo>