Invalid depth pointcloud orientation #3
Description
Currently depth_camera gazebo sensor publishes both depth (DepthCloud) and depth/points (Pointcloud2) topis with the same frame_id. According to ROS standard the depth image should be published with optical frame (which is z forward) and the pointcloud with standard frame (x forward). This causes the DepthCloud and Pointcloud to be oriented in different directions when displayed in RViz2.
There is a drafted PR which fixes this: gazebosim/ros_gz#703.
When it's merged the _remappings.yaml files for depth cameras should be adjusted accordingly