Error Depth map

[rbonghi]

There are no ways to rotate the depth map on the ground

Bug: ros-simulation/gazebo_ros_pkgs#1343

[rbonghi]

Option

      <gazebo reference="${camera_model}_left_camera_frame">
        <sensor type="multicamera" name="${sensor_name}">
          <pose>0 0 0 0 0 0</pose>
          <update_rate>${update_rate}</update_rate>
          <visualize>true</visualize>
          <camera name="left">
            <horizontal_fov>${fov}</horizontal_fov>
            <image>
                <width>${resolution_width}</width>
                <height>${resolution_heigth}</height>
                <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</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>
          <camera name="right">
            <pose>0 -${baseline} 0 0 0 0</pose>
            <horizontal_fov>${fov}</horizontal_fov>
            <image>
                <width>${resolution_width}</width>
                <height>${resolution_heigth}</height>
                <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</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="camera_controller" filename="libgazebo_ros_camera.so">
            <ros>
                <namespace>/${robot_name}</namespace>
            </ros>
            <alwaysOn>true</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>${sensor_name}</cameraName>
            <frameName>${camera_model}_left_camera_optical_frame</frameName>
          </plugin>
        </sensor>
      </gazebo>