diff --git a/orbbec_description/urdf/astra2.urdf.xacro b/orbbec_description/urdf/astra2.urdf.xacro
index 2b25ac41..28cf9f8a 100755
--- a/orbbec_description/urdf/astra2.urdf.xacro
+++ b/orbbec_description/urdf/astra2.urdf.xacro
@@ -85,7 +85,7 @@
     </collision>
   </link>
   <joint
-    name="camera_bottom_screw_frame"
+    name="camera_bottom_screw_joint"
     type="fixed">
     <origin
       xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
@@ -138,7 +138,7 @@
     </collision>
   </link>
   <joint
-    name="camera_ir_frame"
+    name="camera_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -191,7 +191,7 @@
     </collision>
   </link>
   <joint
-    name="camera_ir_optical_frame"
+    name="camera_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -244,7 +244,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_frame"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="0.0025420000310987234 -0.01850000023841858 0"
@@ -297,7 +297,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_optical_frame"
+    name="camera_color_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -350,7 +350,7 @@
     </collision>
   </link>
   <joint
-    name="camera_depth_frame"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -403,7 +403,7 @@
     </collision>
   </link>
   <joint
-    name="camera_depth_optical_frame"
+    name="camera_depth_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
diff --git a/orbbec_description/urdf/gemini2.urdf.xacro b/orbbec_description/urdf/gemini2.urdf.xacro
index a043a548..3a8a8fce 100755
--- a/orbbec_description/urdf/gemini2.urdf.xacro
+++ b/orbbec_description/urdf/gemini2.urdf.xacro
@@ -85,7 +85,7 @@
     </collision>
   </link>
   <joint
-    name="camera_botter_screw_frame"
+    name="camera_botter_screw_joint"
     type="fixed">
     <origin
       xyz="-0.01491 -0.025 -0.0125"
@@ -138,7 +138,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_frame"
+    name="camera_right_ir_joint"
     type="fixed">
     <origin
       xyz="0 -0.05000000074505806 0"
@@ -191,7 +191,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_optical_frame"
+    name="camera_right_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -244,7 +244,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_frame"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="0.0019099999917671084 -0.01400499977171421 4.999999873689376e-06"
@@ -297,7 +297,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_optical_frame"
+    name="camera_color_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -350,7 +350,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_frame"
+    name="camera_left_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -403,7 +403,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_optical_frame"
+    name="camera_left_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -456,7 +456,7 @@
     </collision>
   </link>
   <joint
-    name="camera_depth_frame"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
diff --git a/orbbec_description/urdf/gemini2L.urdf.xacro b/orbbec_description/urdf/gemini2L.urdf.xacro
index c39ced2d..7e91a193 100644
--- a/orbbec_description/urdf/gemini2L.urdf.xacro
+++ b/orbbec_description/urdf/gemini2L.urdf.xacro
@@ -85,7 +85,7 @@
     </collision>
   </link>
   <joint
-    name="camera_bottom_screw_frame"
+    name="camera_bottom_screw_joint"
     type="fixed">
     <origin
       xyz="-0.01033 -0.05 -0.0145"
@@ -138,7 +138,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_frame"
+    name="camera_right_ir_joint"
     type="fixed">
     <origin
       xyz="0 -0.1 0"
@@ -191,7 +191,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_optical_frame"
+    name="camera_right_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -244,7 +244,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_frame"
+    name="camera_left_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -297,7 +297,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_optical_frame"
+    name="camera_left_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -350,7 +350,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_frame"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="3.9789e-11 -0.025 0"
@@ -403,7 +403,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_optical_frame"
+    name="camera_color_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -456,7 +456,7 @@
     </collision>
   </link>
   <joint
-    name="camera_imu_frame"
+    name="camera_imu_joint"
     type="fixed">
     <origin
       xyz="-0.01507 -0.015159 0.0025797"
@@ -509,7 +509,7 @@
     </collision>
   </link>
   <joint
-    name="camera_depth_frame"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
diff --git a/orbbec_description/urdf/gemini335L_336L.urdf.xacro b/orbbec_description/urdf/gemini335L_336L.urdf.xacro
index 4aac4a13..3b219e32 100644
--- a/orbbec_description/urdf/gemini335L_336L.urdf.xacro
+++ b/orbbec_description/urdf/gemini335L_336L.urdf.xacro
@@ -85,7 +85,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_screw_frame"
+    name="camera_color_screw_joint"
     type="fixed">
     <origin
       xyz="-0.011715 -0.0475 -0.014311"
@@ -138,7 +138,7 @@
     </collision>
   </link>
   <joint
-    name="camera_IMU_frame"
+    name="camera_IMU_joint"
     type="fixed">
     <origin
       xyz="-0.01425 -0.007866 -0.001068"
@@ -191,7 +191,7 @@
     </collision>
   </link>
   <joint
-    name="camera_depth_frame"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -244,7 +244,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_frame"
+    name="camera_left_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -297,7 +297,7 @@
     </collision>
   </link>
   <joint
-    name="camera_left_ir_optical_frame"
+    name="camera_left_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -350,7 +350,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_frame"
+    name="camera_right_ir_joint"
     type="fixed">
     <origin
       xyz="0 -0.095 0"
@@ -403,7 +403,7 @@
     </collision>
   </link>
   <joint
-    name="camera_right_ir_optical_frame"
+    name="camera_right_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -456,7 +456,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_frame"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="0 -0.02375 0"
@@ -509,7 +509,7 @@
     </collision>
   </link>
   <joint
-    name="camera_color_optical_frame"
+    name="camera_color_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
diff --git a/orbbec_description/urdf/gemini335Le.urdf.xacro b/orbbec_description/urdf/gemini335Le.urdf.xacro
index b7eed0fa..928f5617 100755
--- a/orbbec_description/urdf/gemini335Le.urdf.xacro
+++ b/orbbec_description/urdf/gemini335Le.urdf.xacro
@@ -104,7 +104,7 @@ Stephen Brawner (brawner@gmail.com)
     </inertial>
   </link>
   <joint
-    name="camera_depth_frame_Joint"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -117,7 +117,7 @@ Stephen Brawner (brawner@gmail.com)
       xyz="0 0 0" />
   </joint>
   <joint
-    name="base_Joint"
+    name="base_joint"
     type="fixed">
     <origin
       xyz="-0.034005 -0.0475 -0.014048"
@@ -170,7 +170,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_right_ir_Joint"
+    name="camera_right_ir_joint"
     type="fixed">
     <origin
       xyz="0 -0.095 0"
@@ -223,7 +223,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_left_ir_Joint"
+    name="camera_left_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -276,7 +276,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_color_Joint"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="9e-06 -0.02375 0"
@@ -329,7 +329,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_imu_Joint"
+    name="camera_imu_joint"
     type="fixed">
     <origin
       xyz="-0.014248 -0.01131 -0.00069"
diff --git a/orbbec_description/urdf/gemini335Lg.urdf.xacro b/orbbec_description/urdf/gemini335Lg.urdf.xacro
index 04626a4c..051262eb 100755
--- a/orbbec_description/urdf/gemini335Lg.urdf.xacro
+++ b/orbbec_description/urdf/gemini335Lg.urdf.xacro
@@ -87,7 +87,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_bottom_screw_frame"
+    name="camera_bottom_screw_joint"
     type="fixed">
     <origin
       xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
@@ -140,7 +140,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_left_ir_frame"
+    name="camera_left_ir_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -193,7 +193,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_left_ir_optical_frame"
+    name="camera_left_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -246,7 +246,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_color_frame"
+    name="camera_color_joint"
     type="fixed">
     <origin
       xyz="0 -0.023749999701976776 0"
@@ -299,7 +299,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_color_optical_frame"
+    name="camera_color_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -352,7 +352,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_right_ir_frame"
+    name="camera_right_ir_joint"
     type="fixed">
     <origin
       xyz="0 -0.095 0"
@@ -405,7 +405,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_right_ir_optical_frame"
+    name="camera_right_ir_optical_joint"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -458,7 +458,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_imu_frame"
+    name="camera_imu_joint"
     type="fixed">
     <origin
       xyz="-0.01425 -0.011312 -0.0006871"
@@ -511,7 +511,7 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_depth_frame"
+    name="camera_depth_joint"
     type="fixed">
     <origin
       xyz="0 0 0"