mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 03:00:20 +08:00
Merge remote-tracking branch 'origin/feat/import-dabai-models' into merge/develop
This commit is contained in:
ob-yalian
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@@ -189,7 +189,7 @@ Visualization Manager:
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||||
Enabled: true
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Global Options:
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||||
Background Color: 48; 48; 48
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Fixed Frame: base_link
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Fixed Frame: camera_link
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Frame Rate: 30
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Name: root
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Tools:
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@@ -0,0 +1,365 @@
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<?xml version="1.0" encoding="utf-8"?>
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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@@ -0,0 +1,524 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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||||
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</joint>
|
||||
<link
|
||||
name="camera_left_ir_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00135753039709186 1.22364028806027E-06 4.81198503183066E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337218E-05" />
|
||||
<inertia
|
||||
ixx="3.31262260565363E-10"
|
||||
ixy="-1.40069841306973E-14"
|
||||
ixz="-1.09629457552955E-14"
|
||||
iyy="1.76222164802545E-10"
|
||||
iyz="8.97324840212843E-14"
|
||||
izz="1.76036786988241E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_left_ir_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_left_ir_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_left_ir_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_depth_frame" />
|
||||
<child
|
||||
link="camera_left_ir_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_left_ir_optical_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.22364028806027E-06 -4.81198503183066E-07 0.00135753039709186"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337218E-05" />
|
||||
<inertia
|
||||
ixx="1.76222164802545E-10"
|
||||
ixy="8.97324840212862E-14"
|
||||
ixz="1.40069841306939E-14"
|
||||
iyy="1.76036786988241E-10"
|
||||
iyz="1.09629457552948E-14"
|
||||
izz="3.31262260565363E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_left_ir_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="camera_left_ir_frame" />
|
||||
<child
|
||||
link="camera_left_ir_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_right_ir_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00135753039709186 1.22364028805333E-06 4.81198503184114E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337219E-05" />
|
||||
<inertia
|
||||
ixx="3.31262260565363E-10"
|
||||
ixy="-1.40069841307025E-14"
|
||||
ixz="-1.09629457552728E-14"
|
||||
iyy="1.76222164802546E-10"
|
||||
iyz="8.97324840212975E-14"
|
||||
izz="1.76036786988241E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_right_ir_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_right_ir_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_ir_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.063 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_depth_frame" />
|
||||
<child
|
||||
link="camera_right_ir_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_right_ir_optical_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.22364028805333E-06 -4.81198503184114E-07 0.00135753039709186"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337219E-05" />
|
||||
<inertia
|
||||
ixx="1.76222164802546E-10"
|
||||
ixy="8.97324840213045E-14"
|
||||
ixz="1.40069841306981E-14"
|
||||
iyy="1.76036786988241E-10"
|
||||
iyz="1.09629457552735E-14"
|
||||
izz="3.31262260565363E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_ir_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="camera_right_ir_frame" />
|
||||
<child
|
||||
link="camera_right_ir_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_color_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00278059177554599 1.11024822937664E-07 7.53785374269312E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000779591601577484" />
|
||||
<inertia
|
||||
ixx="2.48707251421242E-08"
|
||||
ixy="-3.65125228075608E-13"
|
||||
ixz="-5.79369648695095E-14"
|
||||
iyy="1.34312263477484E-08"
|
||||
iyz="-2.34891204163119E-13"
|
||||
izz="1.34315105006507E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.003310001154848 -0.0450001323422 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_depth_frame" />
|
||||
<child
|
||||
link="camera_color_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_color_optical_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.11024822937664E-07 -7.53785374268566E-08 0.00278059177554599"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000779591601577484" />
|
||||
<inertia
|
||||
ixx="1.34312263477484E-08"
|
||||
ixy="-2.34891204163119E-13"
|
||||
ixz="3.65125228075608E-13"
|
||||
iyy="1.34315105006507E-08"
|
||||
iyz="5.79369648695095E-14"
|
||||
izz="2.48707251421242E-08" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_color_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="camera_color_frame" />
|
||||
<child
|
||||
link="camera_color_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_depth_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00135753039709186 1.22364028806027E-06 4.81198503183096E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337218E-05" />
|
||||
<inertia
|
||||
ixx="3.31262260565363E-10"
|
||||
ixy="-1.40069841306977E-14"
|
||||
ixz="-1.09629457552986E-14"
|
||||
iyy="1.76222164802545E-10"
|
||||
iyz="8.97324840212845E-14"
|
||||
izz="1.76036786988241E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_depth_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_depth_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_depth_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_link" />
|
||||
<child
|
||||
link="camera_depth_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_depth_optical_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.22364028806027E-06 -4.81198503183066E-07 0.00135753039709186"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.38667940337218E-05" />
|
||||
<inertia
|
||||
ixx="1.76222164802545E-10"
|
||||
ixy="8.97324840212812E-14"
|
||||
ixz="1.40069841306965E-14"
|
||||
iyy="1.76036786988241E-10"
|
||||
iyz="1.09629457552965E-14"
|
||||
izz="3.31262260565363E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_depth_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_depth_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_depth_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="camera_depth_frame" />
|
||||
<child
|
||||
link="camera_depth_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,14 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot name="dabai_dcw2" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="dabai_dcw2.urdf.xacro"/>
|
||||
<link name="base_link"/>
|
||||
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,14 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot name="dabai_max_pro" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="dabai_max_pro.urdf.xacro"/>
|
||||
<link name="base_link"/>
|
||||
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user