PERCEPTION: Setting up sensors

[meshvaD]

• in drivetrain.urdf.xacro, can use the macro default_depth_camera_frame or default_lidar_frame to simulate either a depth camera or lidar sensor in gazebo
• all sensor parameters such as dimension and relative position are in sensor_parameters.yaml

Gazebo showing the lidar rays from the sensor on one corner of the drivetrain (note there is a cube camera in the center of the drivetrain)

On RViz, these topics are used by the sensors, adding these topics to rviz will bring up a visual. (Note: if you get a "no image found" error, try ros-visualization/rqt#187 (comment))

For example image camera frame (we added some random objects in the world so there is something to "see")

[nico-palmar]

insanely late on this but can you add pictues/documentation on what exactly this PR is doing

[nico-palmar]

also can you leave the robot with one stereo camera on the front, one stereo camera on the back, facing backwards, as well as one lidar?

[meshvaD]

also can you leave the robot with one stereo camera on the front, one stereo camera on the back, facing backwards, as well as one lidar?

where should the lidar be?

[nico-palmar]

Some of these paraemeters might matter but we can keep them like this for now. Let's just keep it in mind that we kept a bunch of 0s for the intrinsic camera calibration matrix (including focal lengths). Don't need to do anything about this comment.

[nico-palmar]

Yea looks good to me. As along as you are sure we aren't hitting any major errors with sensors while testing and that the front/back cameras look good (general positioning of them looks good to me, and the back one has a 180 deg yaw which I wanted to see) then we can merge. Feel free to merge if you are confident. Good work!