Color and Depth frames misalignment

[Danfoa]

Good day,

I developed the URDF format version of the camera Gazebo model and while testing its performance in ROS, I notice that there is a misalignment in the color projected onto the pointcloud, it seems to be a constant offset in the Y axis of about two to three centimeters (see for example the groud color projected into the table, and the coke can red projected into the wall), making color clustering not feasible.

I also found that the depth frame has some misalignment, see image below:

On my gazebo simulation objects are placed like this.

I though at first that the error was on my URDF definition, but I tested and the same offset occurs with your .sdf gazebo model.