External camera frame on the robot

[DatSpace]

Problem:

As part of the first demo in P.Madama the new mount for the external realsense was created.

The new mount had the camera flipped upside-down and made it flash with the face panel. During the demo, to represent the above changes, a new link between the external_camera frame was created to the urdf of the robot.

The new link moved the camera flush with the face of the robot and flipped it to match the actual state of the camera.

Possible solutions:

• Add the robots-configuration ros2 branch the new link and make it the default camera link from now on. The negative is that then we have many camera links that pretty much do the same thing. (External, centered, camera link, and the 2 cameras at the bottom)
• Use only one frame to describe the camera as we use one camera.
• Actually put the camera in the head and update the urdf accordingly.

In any case, the urdf of the R1 needs some love/cleanup. It has not been updated in years and it contains many gazebo tags and yarp plugins that are ignored by the parsers and just make it more unreadable.