ergoCubV1*: fix alignment of the depth

[Nicogene]

It is now aligned w/ the RGB frame as on the real robot.
It fixes #183

cc @xEnVrE

[xEnVrE]

@Nicogene
I saw you have changed the field of view. Would it be possible to verify whether the file

https://github.com/icub-tech-iit/ergocub-software/blob/master/urdf/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini

is actually used by Gazebo or it is an old one? Because otherwise, given that you have changed the field of view, the intrinsics should change as well, what do you think - assuming that the current value was correct with respect to the previous value of the field of view ?

ergocub-software/urdf/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini

Lines 5 to 6 in f7ba46b

	focalLengthX 570.3422241210938
	focalLengthY 570.3422241210938

[Nicogene]

@Nicogene I saw you have changed the field of view. Would it be possible to verify whether the file

master/urdf/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini

is actually used by Gazebo or it is an old one? Because otherwise, given that you have changed the field of view, the intrinsics should change as well, what do you think - assuming that the current value was correct with respect to the previous value of the field of view ?

ergocub-software/urdf/ergoCub/conf/sensors/gazebo_ergocub_rgbd_camera.ini

Lines 5 to 6 in f7ba46b

	focalLengthX 570.3422241210938
	focalLengthY 570.3422241210938

Probably yes, I don't know if those values are correct or not, it seems not, I think they have been copy-pasted from iCub3.
Probably we should ask them to the device via rpc and put those, what do you think @xEnVrE ?

[Nicogene]

I checked on the D450 we have spare and I updated the focal length also in the ini file:

• a422848