[gazebo] Logical camera can see through obstructions

[Deanna Hood]

The logical camera can see through the arm when placed overhead.

It can also see through bin walls when placed horizontally.

[Deanna Hood]

@caguero pointed out that as an alternative to fixing this we could, for example, impose a minimum height of the camera placement. This would prevent the horizontal view of all parts.

It would not prevent the camera 'seeing through' the arm

[Michael Sprague]

With the reduction in range of the logical camera, the advantage of unrealistic camera poses has gone away. As one guilty of a horizontal view, my team will be using more conventional camera placement for qual2 now that the range has been reduced. An alternative enforcement that may be simpler than fixing the view through obstructions would be to limit the pitch and roll of the camera and only allow position and yaw to be adjusted, so the camera always looks straight down at the floor. That would be typical industrial implementation anyway.

[Deanna Hood]

Thanks for your input @msprague. Certainly it is interesting for us to see the creativity in teams' use of the sensors! We will update participants once a change has been made to the sensor.