Use wideangle front camera

urdf/include/sensors.xacro

@@ -7,6 +7,7 @@
   <xacro:include filename="$(find iri_hcsr04_sonar_description)/urdf/hc_sr04_sonar.xacro" />
   <xacro:include filename="$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu.xacro" />
   <xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_camera.xacro" />
+  <xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_wideangle_camera.xacro" />
   
   <xacro:property name="PI" value="3.1415926535897931" />
 
@@ -40,9 +41,9 @@
       <origin xyz="0.006 0.0 0.0271" rpy="0 0 0" />
     </xacro:mpu9250_imu>
 
-    <xacro:uvc_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="${sim_config_path}/basler_camera_sim_config.yaml">
+    <xacro:uvc_wideangle_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="${sim_config_path}/basler_camera_sim_config.yaml">
       <origin xyz="0.273 0.0 0.180" rpy="0 0 0" />
-    </xacro:uvc_camera>
+    </xacro:uvc_wideangle_camera>
 
     <xacro:uvc_camera name="rear_camera" parent="base_link" resolution="low_res" model="delock" sim_config="${sim_config_path}/delock_camera_sim_config.yaml">
       <origin xyz="-0.0112 0.0 0.055" rpy="0 0 ${PI}" />