refactor: update cylinder size in scene

config/gz_bridge.yaml

@@ -3,7 +3,12 @@
   gz_type_name: "gz.msgs.Clock"
   direction: GZ_TO_ROS
 
-- topic_name: "/rgbd_camera/image"
+- topic_name: "/inner_rgbd_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- topic_name: "/outer_rgbd_camera/image"
   ros_type_name: "sensor_msgs/msg/Image"
   gz_type_name: "gz.msgs.Image"
   direction: GZ_TO_ROS

urdf/aubo_i5.urdf.xacro

@@ -251,8 +251,12 @@
   </xacro:simple_parallel_gripper>
 
 
-  <xacro:rgbd parent="wrist3_Link" tf_prefix="">
-    <origin xyz="0.0 0.05 0.04" rpy="0.0 -1.47 -1.57" />
+  <xacro:rgbd parent="wrist3_Link" tf_prefix="inner_">
+    <origin xyz="0.0 0.05 0.0" rpy="0.0 -1.47 -1.57" />
+  </xacro:rgbd>
+
+  <xacro:rgbd parent="base_link" tf_prefix="outer_">
+    <origin xyz="0.62179261445999146 -0.83430188894271851 0.85204130411148071" rpy="0.00 0.608 1.934" />
   </xacro:rgbd>
 
   <xacro:aubo_ros2_control hardware="${hardware}" robot_ip="${robot_ip}" />

urdf/sensors.xacro

@@ -30,8 +30,8 @@
         <camera>
           <horizontal_fov>1.047</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1080</height>
+            <width>640</width>
+            <height>480</height>
           </image>
           <clip>
             <near>0.1</near>

world/world.sdf

@@ -110,8 +110,8 @@
         <collision name="cylinder_collision">
           <geometry>
             <cylinder>
-              <radius>0.03</radius>
-              <length>0.1</length>
+              <radius>0.01</radius>
+              <length>0.05</length>
             </cylinder>
           </geometry>
           <surface>
@@ -133,8 +133,8 @@
         <visual name="cylinder_visual">
           <geometry>
             <cylinder>
-              <radius>0.03</radius>
-              <length>0.1</length>
+              <radius>0.01</radius>
+              <length>0.05</length>
             </cylinder>
           </geometry>
           <material>