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https://github.com/orbbec/OrbbecSDK_ROS2.git
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Add URDF and STL files for the Gemini 435 Le camera model
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ob-yalian
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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="gemini_435_Le">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini435Le/" />
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<!--
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The root link owns the complete physical model. Sensor links below are
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coordinate frames only, so their geometry, collision, mass, and inertia
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are not counted repeatedly.
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-->
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<link name="camera_screw_frame">
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<inertial>
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<origin xyz="0.00362974814795868 0.0327239520253598 0.0201570762447024" rpy="0 0 0" />
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<mass value="0.52" />
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<inertia
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ixx="0.000996547989654272"
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ixy="-1.27347531187977E-05"
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ixz="-6.37274993760709E-08"
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iyy="0.000114258647753823"
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iyz="2.49203178977503E-06"
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izz="0.000945634655484896" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="${mesh_path}camera_screw_frame.STL" />
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</geometry>
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<material name="camera_body">
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<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<!-- Primitive collision avoids using a high-triangle-count dynamic mesh. -->
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<collision>
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<origin xyz="0.0024025 0.03375 0.0202" rpy="0 0 0" />
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<geometry>
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<box size="0.075505 0.1384 0.0404" />
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</geometry>
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</collision>
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</link>
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<link name="camera_link" />
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<joint name="camera_link_joint" type="fixed">
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<origin xyz="0.0354680400000002 0.0811997 0.0201999999999996" rpy="0 0 0" />
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<parent link="camera_screw_frame" />
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<child link="camera_link" />
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</joint>
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<link name="camera_depth_frame" />
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<joint name="camera_depth_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="camera_link" />
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<child link="camera_depth_frame" />
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</joint>
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<link name="camera_IMU_frame" />
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<joint name="camera_IMU_joint" type="fixed">
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<origin xyz="-0.0550580400000001 -0.0152696999999998 9.99999999999141E-05" rpy="0 0 0" />
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<parent link="camera_depth_frame" />
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<child link="camera_IMU_frame" />
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</joint>
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<link name="camera_color_frame" />
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<joint name="camera_color_joint" type="fixed">
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<origin xyz="0 -0.0237497 0" rpy="0 0 0" />
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<parent link="camera_depth_frame" />
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<child link="camera_color_frame" />
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</joint>
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<link name="camera_color_optical_frame" />
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<joint name="camera_color_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
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<parent link="camera_color_frame" />
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<child link="camera_color_optical_frame" />
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</joint>
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<link name="camera_left_ir_frame" />
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<joint name="camera_left_ir_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="camera_depth_frame" />
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<child link="camera_left_ir_frame" />
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</joint>
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<link name="camera_left_ir_optical_frame" />
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<joint name="camera_left_ir_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
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<parent link="camera_left_ir_frame" />
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<child link="camera_left_ir_optical_frame" />
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</joint>
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<link name="camera_right_ir_frame" />
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<joint name="camera_right_ir_joint" type="fixed">
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<origin xyz="0 -0.0949976 0" rpy="0 0 0" />
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<parent link="camera_depth_frame" />
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<child link="camera_right_ir_frame" />
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</joint>
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<link name="camera_right_ir_optical_frame" />
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<joint name="camera_right_ir_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
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<parent link="camera_right_ir_frame" />
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<child link="camera_right_ir_optical_frame" />
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</joint>
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<link name="camera_depth_optical_frame" />
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<joint name="camera_depth_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
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<parent link="camera_depth_frame" />
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<child link="camera_depth_optical_frame" />
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</joint>
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</robot>
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@@ -0,0 +1,12 @@
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<?xml version="1.0" encoding="utf-8"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="gemini_435_Le">
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<xacro:include filename="gemini_435_Le.urdf.xacro" />
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<!-- Define a virtual root link for model tests and robot mounting. -->
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<link name="base_link" />
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<joint name="base_link_to_camera_screw_frame" type="fixed">
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<parent link="base_link" />
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<child link="camera_screw_frame" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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</robot>
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