i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-11 06:59:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix: rename joint names for consistency across URDF files

Browse Source
This commit is contained in:
ob-yalian
2026-01-08 10:26:22 +08:00
parent 9c9c4794e9
commit 50cf25cfac
6 changed files with 48 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_description/urdf/astra2.urdf.xacro
+7 -7
View File
@@ -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"
orbbec_description/urdf/gemini2.urdf.xacro
+8 -8
View File
@@ -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"
orbbec_description/urdf/gemini2L.urdf.xacro
+9 -9
View File
@@ -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"
orbbec_description/urdf/gemini335L_336L.urdf.xacro
+9 -9
View File
@@ -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"
orbbec_description/urdf/gemini335Le.urdf.xacro
+6 -6
View File
@@ -104,7 +104,7 @@ Stephen Brawner ([email protected])
</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 ([email protected])
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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</collision>
</link>
<joint
name="camera_imu_Joint"
name="camera_imu_joint"
type="fixed">
<origin
xyz="-0.014248 -0.01131 -0.00069"
orbbec_description/urdf/gemini335Lg.urdf.xacro
+9 -9
View File
@@ -87,7 +87,7 @@ Stephen Brawner ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</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 ([email protected])
</collision>
</link>
<joint
name="camera_depth_frame"
name="camera_depth_joint"
type="fixed">
<origin
xyz="0 0 0"