Update helios16p based on manufacturer specifications

Author: RomanRobotnik

urdf/rs_helios_16p.urdf.xacro

@@ -97,7 +97,7 @@
   </xacro:macro>
 
   <xacro:macro name="sensor_rs_helios_16p" params="prefix parent prefix_topic:='lidar_3d' *origin gpu:=false include_inertial:=^|true">
-    <xacro:sensor_rs_helios prefix="${prefix}" parent="${parent}" prefix_topic="${prefix_topic}" range_min="0.4" range_max="150.0" hfov="360.0" hres="0.2" vfov="32.0" vres="2" fps="10.0" gpu="${gpu}" include_inertial="${include_inertial}">
+    <xacro:sensor_rs_helios prefix="${prefix}" parent="${parent}" prefix_topic="${prefix_topic}" range_min="0.2" range_max="150.0" hfov="360.0" hres="0.2" vfov="30.0" vres="2" fps="10.0" gpu="${gpu}" include_inertial="${include_inertial}">
       <xacro:insert_block name="origin" />
     </xacro:sensor_rs_helios>
   </xacro:macro>