incorrect reference for gazebo camera sensor and plugin

[belgiumkansas]

Description

the urdf description for the movo contains a reference to a link that does not exist

Version

kinetic-devel (but looks the same on master branch)

Steps to reproduce

1. launch the gazebo simulator, something like movo_gazebo movo_test_zone.launch
2. try and find the camera topics

Code example

line 88 in kinect_one_sensor.urdf.xacro

<gazebo reference="${prefix}_ir_link">

Expected behavior

load the sensor and camera plugin

Any other information

there are no other references to ${prefix}_ir_link in the robot description so gazebo will not load the sensor and camera plugin

replaced with:
<gazebo reference="${prefix}_ir_frame">
which is a valid reference and the camera plugin loads correctly.

[simonferronforget]

Hello @belgiumkansas,
Thank you for sharing this issue.

I just want to make sure with you if the correct solution was instead to replace line 88 in kinect_one_sensor.urdf.xacro with:
<gazebo reference="${prefix}_ir_optical_frame">

Regards,
Simon

[belgiumkansas]

that's probably the better solution. the ir_frame was the first valid reference that I saw in the urdf.