Refactor code structure for improved readability and maintainability

orbbec_description/urdf/gemini345Lg.urdf.xacro

@@ -5,7 +5,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini345Lg">
     <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini345Lg/" />
   <link
-    name="base_link">
+    name="camera_link">
     <inertial>
       <origin
         xyz="-0.00892631661319327 -0.0411953623128534 -6.74554835164257E-05"
@@ -26,7 +26,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}base_link.STL" />
+          filename="${mesh_path}camera_link.STL" />
       </geometry>
       <material
         name="">
@@ -40,7 +40,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}base_link.STL" />
+          filename="${mesh_path}camera_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -91,14 +91,14 @@
       xyz="-0.039695 -0.0139999995 -0.011"
       rpy="0 0 0" />
     <parent
-      link="base_link" />
+      link="camera_link" />
     <child
       link="camera_bottom_screw_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="-0.00294368828819507 4.99999992797928E-10 -5.94655219848769E-11"
@@ -119,7 +119,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
+          filename="${mesh_path}camera_left_ir_frame.STL" />
       </geometry>
       <material
         name="">
@@ -133,12 +133,12 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
+          filename="${mesh_path}camera_left_ir_frame.STL" />
       </geometry>
     </collision>
   </link>
   <joint
-    name="camera_infra1_frame"
+    name="camera_left_ir_frame"
     type="fixed">
     <origin
       xyz="0.039695 0.0139999995 0.011"
@@ -146,12 +146,12 @@
     <parent
       link="camera_bottom_screw_frame" />
     <child
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_optical_frame">
+    name="camera_left_ir_optical_frame">
     <inertial>
       <origin
         xyz="-5.00000006675716E-10 5.94655219568156E-11 -0.00294368828819506"
@@ -172,7 +172,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+          filename="${mesh_path}camera_left_ir_optical_frame.STL" />
       </geometry>
       <material
         name="">
@@ -186,25 +186,25 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+          filename="${mesh_path}camera_left_ir_optical_frame.STL" />
       </geometry>
     </collision>
   </link>
   <joint
-    name="camera_infra1_optical_frame"
+    name="camera_left_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <child
-      link="camera_infra1_optical_frame" />
+      link="camera_left_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="-0.00294368828819506 0 -5.59465521922963E-10"
@@ -225,7 +225,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra2_frame.STL" />
+          filename="${mesh_path}camera_right_ir_frame.STL" />
       </geometry>
       <material
         name="">
@@ -239,12 +239,12 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra2_frame.STL" />
+          filename="${mesh_path}camera_right_ir_frame.STL" />
       </geometry>
     </collision>
   </link>
   <joint
-    name="camera_infra2_frame"
+    name="camera_right_ir_frame"
     type="fixed">
     <origin
       xyz="0.039695 -0.074 0.0110000005"
@@ -252,12 +252,12 @@
     <parent
       link="camera_bottom_screw_frame" />
     <child
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_optical_frame">
+    name="camera_right_ir_optical_frame">
     <inertial>
       <origin
         xyz="0 5.59465521977332E-10 -0.00294368828819506"
@@ -278,7 +278,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra2_optical_frame.STL" />
+          filename="${mesh_path}camera_right_ir_optical_frame.STL" />
       </geometry>
       <material
         name="">
@@ -292,20 +292,20 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="${mesh_path}camera_infra2_optical_frame.STL" />
+          filename="${mesh_path}camera_right_ir_optical_frame.STL" />
       </geometry>
     </collision>
   </link>
   <joint
-    name="camera_infra2_optical_frame"
+    name="camera_right_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <child
-      link="camera_infra2_optical_frame" />
+      link="camera_right_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>