Backport fix for optical_frame_id in Depth and RGBD camera sensors

[iche033]

🦟 Bug fix

Summary

Port <optical_frame_id> fixes from #458 and #362 for DepthCamera and RGBD camera sensors.

To test:

Run with this exampel optical_frame_id.sdf world and check the frame_id field in various topics.

ign gazebo -v 4 -s -r optical_frame_id.sdf

# check rgbd camera topics: the `frame_id` value should be `rgbd_optical_frame_id`
ign topic -e -t /rgbd/camera_info  | grep -A 2 frame_id
ign topic -e -t /rgbd/image  | grep -A 2 frame_id
ign topic -e -t /rgbd/depth_image  | grep -A 2 frame_id
ign topic -e -t /rgbd/points  | grep -A 2 frame_id

# check depth camera topics: the `frame_id` value should be `depth_optical_frame_id`
ign topic -e -t /camera_info  | grep -A 2 frame_id
ign topic -e -t /depth/points | grep -A 2 frame_id
ign topic -e -t /depth | grep -A 2 frame_id

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[fmrico]

Hi @iche033

As I commented in #458 (comment), the correct frame for this message is actually the last part of frameId(). Otherwise, you'll have the point cloud turned as shown in the above link.

[iche033]

Hi @iche033

As I commented in #458 (comment), the correct frame for this message is actually the last part of frameId(). Otherwise, you'll have the point cloud turned as shown in the above link.

Not sure if I understand you correctly. In you example in #458 (comment), FrameId returns: tiago/head_2_link/head_front_camera_frame_sensor so when you say the last part of FrameId(), do you expect it to return head_front_camera_frame_sensor?

[fmrico]

Hi @iche033

Not sure if I understand you correctly. In you example in #458 (comment), FrameId returns: tiago/head_2_link/head_front_camera_frame_sensor so when you say the last part of FrameId(), do you expect it to return head_front_camera_frame_sensor?

Yes, that is what I expected, but I changed nothing in FrameId() because I didn't know if that was an agreement in Gazebo. I preferred to fix in #458 to a valid frame to use the bridge to ROS, in which that frame was definitively wrong.

[iche033]

merging this as it fixes the use of <optical_frame_id> and so that the behavior is consistent with newer versions. We can tackle other issues separately.