Hi,

I am using ROS Kinetic. I am trying to get pointcloud of a door from RGB-D camera on a robot. The description is shown below.

<?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro">  
    <!--
     The asus_camera_model macro only adds the model, it does not also add
     the openni gazebo plugin. See the 'asus_camera' macro below for that
     -->
    <xacro:macro name="realsense_camera_model" params="name parent *origin">
      <joint name="${name}_joint" type="fixed">
        <xacro:insert_block name="origin" />
        <parent link="${parent}"/>
        <child link="${name}_link"/>
      </joint>

      <link name="${name}_link">
        <inertial>
          <mass value="0.200" />
          <origin xyz="0 0 0" rpy="0 0 0" />
          <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
        </inertial>
        <visual>
          <origin xyz="0 0.051 0" rpy="0 0 0" />
          <geometry>
            <box size="0.007 0.130 0.02" />
          </geometry>
          <material name="DarkGrey">
            <color rgba="0.3 0.3 0.3 1"/>
          </material>    
        </visual>
        <collision>
          <origin xyz="0 0.051 0" rpy="0 0 0" />
          <geometry>
            <box size="0.007 0.130 0.02" />
          </geometry>
        </collision>
      </link>

      <gazebo reference="${name}_link">
        <material>Gazebo/Blue</material>
      </gazebo> 
    </xacro:macro>

    <!--
     The asus_camera macro only adds the model, and also adds
     the openni gazebo plugin.
    -->
   <xacro:macro name="realsense_camera" params="name parent *origin">
     <xacro:realsense_camera_model name="${name}" parent="${parent}">
       <xacro:insert_block name="origin" />
     </xacro:realsense_camera_model>

    <gazebo reference="${name}_link">
      <sensor type="camera" name="${name}_rgb">
        <always_on>1</always_on>
        <update_rate>30</update_rate>
        <camera>
          <horizontal_fov>${70.0 * pi/180.0}</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>1920</width>
            <height>1080</height>
          </image>
          <clip>
            <near>0.001</near>
            <far>100</far>
          </clip>
          <distortion>
            <k1>0.0</k1>
            <k2>0.0</k2>
            <k3>0.0</k3>
            <p1>-0.0</p1>
            <p2>-0.00</p2>
            <center>0.5 0.5</center>
          </distortion>
        </camera>
        <plugin name="${name}_camera_depth_controller" filename="libgazebo_ros_camera.so">
          <robotNamespace>$(arg robot_name)/sensor/${name}/rgb</robotNamespace>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>${name}_rgb_optical_frame</frameName>
        </plugin>
      </sensor>

      <sensor type="depth" name="${name}_depth">
        <update_rate>20</update_rate>
        <camera>
          <horizontal_fov>${59.0 * pi/180.0}</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.5</near>
            <far>10.0</far>
          </clip>
        </camera>
        <plugin name="${name}_camera_rgb_controller" filename="libgazebo_ros_openni_kinect.so">
          <robotNamespace>$(arg robot_name)/sensor/${name}</robotNamespace>
          <imageTopicName>ir/image_raw</imageTopicName>
          <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <frameName>${name}_depth_optical_frame</frameName>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>
</robot>

The depth camera has three topics:

/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points

But the generated pointcloud is a little bit left to the real door. Why there is difference in the location, and how to eliminate the difference?

Thanks a lot