From 93484aff40531f3bb7a3fe5900981c7605ee610a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 29 Jun 2024 19:15:09 -0700
Subject: [PATCH] Fixed depth not aligned with lidar

---
 turtlebot4_description/urdf/sensors/oakd.urdf.xacro | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/turtlebot4_description/urdf/sensors/oakd.urdf.xacro b/turtlebot4_description/urdf/sensors/oakd.urdf.xacro
index 79959eb..a0610cb 100644
--- a/turtlebot4_description/urdf/sensors/oakd.urdf.xacro
+++ b/turtlebot4_description/urdf/sensors/oakd.urdf.xacro
@@ -123,7 +123,7 @@
   <gazebo reference="${name}_rgb_camera_frame">
     <sensor name="rgbd_camera" type="rgbd_camera">
       <camera>
-        <horizontal_fov>1.25</horizontal_fov>
+        <horizontal_fov>1.047</horizontal_fov>
         <image>
           <width>320</width>
           <height>240</height>
@@ -174,4 +174,4 @@
   </gazebo>
 
 </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>