From 32ec2e49b393d6521473e535f275a5e835082bce Mon Sep 17 00:00:00 2001
From: Justin Smith <jssmith@gatech.edu>
Date: Wed, 31 Aug 2022 10:35:36 -0400
Subject: [PATCH] Fill in distortion model

---
 src/gazebo_ros_realsense.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/gazebo_ros_realsense.cpp b/src/gazebo_ros_realsense.cpp
index ca51fd4..ed53e55 100644
--- a/src/gazebo_ros_realsense.cpp
+++ b/src/gazebo_ros_realsense.cpp
@@ -1,5 +1,6 @@
 #include "realsense_gazebo_plugin/gazebo_ros_realsense.h"
 #include <sensor_msgs/fill_image.h>
+#include <sensor_msgs/distortion_models.h>
 
 namespace
 {
@@ -164,6 +165,9 @@ namespace
     info_msg.P[6] = info_msg.K[5];
     info_msg.P[10] = info_msg.K[8];
 
+    info_msg.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
+    info_msg.D.resize(5);
+    
     return info_msg;
   }
 }