[models] changes in d435 intel camera.

TODO: verify and ajust values of simulated depth and rgb with reality.

models/d435_ros2_sensor/model_V1.sdf

@@ -32,7 +32,24 @@
         
         <!--pose>0.064 -0.047 0.107 0 0 0</pose-->
         <pose>0 0.1 0 0 0 0</pose>
-        <camera name="realsense_d435">
+        <camera name="d435_depth_camera">
+            <horizontal_fov>1.02974</horizontal_fov>
+            <image>
+              <width>1280</width>
+              <height>720</height>
+            </image>
+            <clip>
+              <near>0.03</near>
+              <far>3</far>
+            </clip>
+            <noise>
+              <type>gaussian</type>
+              <!-- Noise is sampled independently per pixel on each frame.
+                   That pixel's noise value is added to each of its color
+                    channels, which at that point lie in the range [0,1]. -->
+              <mean>0.0</mean>
+              <stddev>0.007</stddev>
+            </noise>
         </camera>
 	<plugin name="intel_realsense_d435_depth_driver" filename="libgazebo_ros_camera.so">
             <ros>
@@ -44,13 +61,17 @@
               <argument>custom_camera/points:=custom_camera/custom_points</argument> 
         -->
             </ros>
-            <camera_name>intel_realsense_d435</camera_name>
+            <camera_name>intel_realsense_d435_depth</camera_name>
             <frame_name>d435_depth_frame</frame_name>
             <hack_baseline>0.07</hack_baseline>
             <min_depth>0.001</min_depth>
       </plugin>
       </sensor>
 
+
+
+
+
       <sensor name="intel_realsense_d435_rgb" type="camera">
         <always_on>true</always_on>
         <visualize>true</visualize>
@@ -87,8 +108,6 @@
             <hack_baseline>0.07</hack_baseline>
           </plugin>
       </sensor>
-      
-      
     </link>
   </model>
 </sdf>