From a4927c5f6fc158416d1b96fdeff27a6e65cb402c Mon Sep 17 00:00:00 2001
From: Joe Fernandez <joseph.fernandez@nist.gov>
Date: Wed, 8 May 2024 12:28:14 -0400
Subject: [PATCH] 2024.4.1 (#344)

* Fix for focal length
---
 ariac_controllers/package.xml             | 2 +-
 ariac_description/package.xml             | 2 +-
 ariac_gazebo/package.xml                  | 2 +-
 ariac_gui/package.xml                     | 2 +-
 ariac_moveit_config/package.xml           | 2 +-
 ariac_msgs/package.xml                    | 2 +-
 ariac_plugins/package.xml                 | 2 +-
 ariac_sensors/package.xml                 | 2 +-
 ariac_sensors/src/ariac_camera_plugin.cpp | 4 ++--
 9 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/ariac_controllers/package.xml b/ariac_controllers/package.xml
index 4451110ac..3f8f8b0da 100644
--- a/ariac_controllers/package.xml
+++ b/ariac_controllers/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_controllers</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>ros2 controllers for ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov"> Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_description/package.xml b/ariac_description/package.xml
index eda03fc9e..b8890e20d 100644
--- a/ariac_description/package.xml
+++ b/ariac_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_description</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Package containing URDF descriptions for all robots in the ARIAC simulation</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gazebo/package.xml b/ariac_gazebo/package.xml
index 90f864985..ac94a6165 100644
--- a/ariac_gazebo/package.xml
+++ b/ariac_gazebo/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gazebo</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>ARIAC ROS2 port</description>
   <maintainer email="jalbrecht23@gmail.com">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_gui/package.xml b/ariac_gui/package.xml
index 7ec7ad202..995340c86 100644
--- a/ariac_gui/package.xml
+++ b/ariac_gui/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_gui</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>GUI for creating trial configurations</description>
   <maintainer email="joseph.fernandez@nist.gov">Joseph Fernandez</maintainer>
   <license>NIST</license>
diff --git a/ariac_moveit_config/package.xml b/ariac_moveit_config/package.xml
index efeb2bc42..08e1d8efb 100644
--- a/ariac_moveit_config/package.xml
+++ b/ariac_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_moveit_config</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description> An package with MoveIt2 configurations for ARIAC robots</description>
   <maintainer email="justin.albrecht@nist.gov">Justin Albrecht</maintainer>
   <license>NIST</license>
diff --git a/ariac_msgs/package.xml b/ariac_msgs/package.xml
index 78e23be90..0658436c5 100644
--- a/ariac_msgs/package.xml
+++ b/ariac_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_msgs</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Interface definitions for ARIAC</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_plugins/package.xml b/ariac_plugins/package.xml
index c6dcb5dbf..ef23fd71b 100644
--- a/ariac_plugins/package.xml
+++ b/ariac_plugins/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_plugins</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Gazebo/ROS2 plugins for the ARAIC competition</description>
   <maintainer email="justin.albrecht@nist.gov">justin albrecht</maintainer>
   <maintainer email="zeid.kootbally@nist.gov">zeid kootbally</maintainer>
diff --git a/ariac_sensors/package.xml b/ariac_sensors/package.xml
index ea55fcc8c..3c0ca546b 100644
--- a/ariac_sensors/package.xml
+++ b/ariac_sensors/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ariac_sensors</name>
-  <version>2024.4.0</version>
+  <version>2024.4.1</version>
   <description>Gazebo plugins for the ARIAC sensors</description>
   <maintainer email="justin.albrecht@nist.gov">justin</maintainer>
   <license>NIST</license>
diff --git a/ariac_sensors/src/ariac_camera_plugin.cpp b/ariac_sensors/src/ariac_camera_plugin.cpp
index 9fcc58712..6813b084f 100644
--- a/ariac_sensors/src/ariac_camera_plugin.cpp
+++ b/ariac_sensors/src/ariac_camera_plugin.cpp
@@ -302,7 +302,7 @@ void AriacCameraPluginPrivate::FillCameraInfoMsg(){
 
   double cx = (static_cast<double>(width_) + 1.0) / 2.0;
   double cy = (static_cast<double>(height_) + 1.0) / 2.0;
-  double focal_length;
+  double focal_length = 0.0;
 
   bool border_crop = true;
   auto hack_baseline = 0.0;
@@ -315,7 +315,7 @@ void AriacCameraPluginPrivate::FillCameraInfoMsg(){
   double distortion_t2{0.0};
 
   if (camera_type_ == "rgb") {
-    double focal_length =
+    focal_length =
       (static_cast<double>(width_)) / (2.0 * tan(camera_->HFOV().Radian() / 2.0));
 
     if (camera_->LensDistortion()) {