Fix: make depth truly aligned-to-color and avoid far-clip “back wall”…

[ZeevBelinsky]

… depths

Problem:
D435i depth was visually “behind” the RGB image in RViz / PointCloud2 (depth appeared on back wall / at max range). 3D detections were offset (especially in Z), causing the arm to overshoot forward.

Root causes:
Color and depth frames had a non-zero offset (baseline), but depth was published under aligned_depth_to_color/* (pipeline assumes registered depth). Depth image topic and camera_info topic were inconsistent (image under aligned_depth_to_color, camera_info under depth/camera_info).

Fix:
Make simulated D435i depth and color originate from the same pose (so “aligned_depth_to_color” is actually aligned in simulation). Publish matching camera_info for the aligned depth topic.

Result:
Depth and RGB now align in RViz.
PointCloud2 matches the RGB features.

[penglongxiang]

@ZeevBelinsky actually this urdf is from official realsense repository, and we did not edit it, as can be referred here, this color and depth frame offset is still valid in their latest code.

This is the frame relationship I summarized previously. The aligned_depth_to_color image might be already transferred to camera_color_optical_frame, not the depth frame.