Camera calibration

[eborghi10]

Describe the bug
Real cameras need to be calibrated to properly setup their intrinsic and extrinsic parameters.

More info about how camera calibration works is described here.

The exact same issue is described here.

ROS Wiki proves more info here and here.

To Reproduce
Steps to reproduce the behavior:

• Execute the robot with one of the real cameras:

LASER=astra roslaunch ca_bringup minimal.launch 

• Try to plot the depth camera with color

rviz

Add --> By Topic --> /create1/astra/depth/image_raw --> DepthCloud
Color Image Topic --> /create1/astra/rgb/image_raw

You won't be able to see an RGB-D image.

Expected behavior
You should see an RGB-D image in RViz. The expected behavior can be seen with Gazebo.

LASER=astra roslaunch ca_gazebo create_sweet_house_3.launch 

Once the parameters are calculated, they need to be added to the calibration.yaml file added by #181.

Screenshots