From 9a4676885164029e4cebaaced5e61ea4e0efd75a Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 19 Jul 2023 04:32:34 -0300
Subject: [PATCH] Change D435 camera image frame name.

---
 twil_description/xacro/d435.urdf.xacro | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/twil_description/xacro/d435.urdf.xacro b/twil_description/xacro/d435.urdf.xacro
index 5f66114..64bad23 100644
--- a/twil_description/xacro/d435.urdf.xacro
+++ b/twil_description/xacro/d435.urdf.xacro
@@ -14,11 +14,11 @@
 			<origin xyz="0 0 0.876" rpy="0.0 0.0 0.0"/>
 		</xacro:sensor_d435>
 
-		<link name="plugin_camera_link"/>
+		<link name="camera_optical_frame"/>
 
-		<joint name="plugin_camera_joint" type="fixed">
+		<joint name="camera_optical_frame_joint" type="fixed">
 			<parent link="camera_link"/>
-			<child link="plugin_camera_link"/>
+			<child link="camera_optical_frame"/>
 			<origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}"/>
     		</joint>
 
@@ -31,7 +31,7 @@
 				<triggered>false</triggered>
 				<trigger_topic>trigger</trigger_topic>
 				<topic>depth_camera</topic>	<!-- This is only used by Gazebo Ignition -->
-				<ignition_frame_id>camera_link</ignition_frame_id>
+				<ignition_frame_id>camera_optical_frame</ignition_frame_id>
 				<camera>
 					<horizontal_fov>1.309</horizontal_fov>	<!--75 deg at 480p  or 87 deg at 720p-->
 					<image>
@@ -59,7 +59,7 @@
 						will control the frame rate. -->
 						<update_rate>0.0</update_rate>
 						<camera_name>camera</camera_name>
-						<frame_name>camera_link</frame_name>
+						<frame_name>camera_optical_frame</frame_name>
 						<hack_baseline>0.05</hack_baseline>
 						<!--P_cx>0.0</P_cx?
 						<P_cy>0.0</P_cy>
-- 
2.12.0