Robot URDF needs to be updated to match position of Xtion

[austinderic]

Robot URDF needs to be updated to match position of Xtion

[schornakj]

Took an initial pass at this by modifying existing variables in my modified godel_robots package.
<xacro:property name="ensenso_optical_x" value="0.0197"/> <!--tool0 to color camera lens--> <xacro:property name="ensenso_optical_y" value="0.0908"/> <!--tool0 to sensor centerline--> <xacro:property name="ensenso_optical_z" value="0.112141"/> <!--tool0 to xtion front face-->
This helps significantly, though it's still off very slightly since surfaces still very slightly change position when rotating the sensor.

[schornakj]

I did an actual calibration of the camera to find its 6-DOF transform relative to robot tool0. I also fixed the interpretation of the camera frame to allow its X and Y axes to match the axes of the camera image, which fixed several other problems throughout the project. There's still work to be done to make sure that the reconstruction is actually correct, but this particular issue with the URDF has been resolved.