mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-10 22:49:51 +08:00
Add URDF models for various Orbbec cameras
This commit is contained in:
ob-yalian
@@ -4,11 +4,6 @@ project(orbbec_description)
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find_package(ament_cmake REQUIRED)
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# Install files
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install(DIRECTORY
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launch
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meshes
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urdf
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rviz
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DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})
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ament_package()
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@@ -2,7 +2,7 @@
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>orbbec_description</name>
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<version>1.5.14</version>
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<version>2.5.4</version>
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<description>TODO: Package description</description>
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<maintainer email="[email protected]">toosimple</maintainer>
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<license>Apache-2.0</license>
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@@ -9,8 +9,10 @@ Panels:
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- /Grid1
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- /RobotModel1
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- /RobotModel1/Description Topic1
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- /TF1
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- /TF1/Frames1
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Splitter Ratio: 0.5
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Tree Height: 1079
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Tree Height: 719
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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@@ -97,22 +99,12 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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camera_infra2_frame:
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camera_left_ir_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_infra2_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_infra_1_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_infra_1_optical_frame:
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camera_left_ir_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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@@ -122,6 +114,16 @@ Visualization Manager:
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Show Axes: false
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Show Trail: false
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Value: true
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camera_right_ir_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_right_ir_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Mass Properties:
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Inertia: false
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Mass: false
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@@ -130,6 +132,60 @@ Visualization Manager:
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base_link:
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Value: true
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camera_bottom_screw_frame:
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Value: false
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camera_color_frame:
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Value: true
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camera_color_optical_frame:
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Value: false
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camera_depth_frame:
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Value: true
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camera_depth_optical_frame:
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Value: false
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camera_left_ir_frame:
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Value: true
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camera_left_ir_optical_frame:
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Value: false
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camera_link:
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Value: true
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camera_right_ir_frame:
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Value: true
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camera_right_ir_optical_frame:
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Value: false
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Marker Scale: 0.05000000074505806
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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base_link:
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camera_link:
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camera_bottom_screw_frame:
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camera_color_frame:
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{}
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camera_color_optical_frame:
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{}
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camera_depth_frame:
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{}
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camera_depth_optical_frame:
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{}
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camera_left_ir_frame:
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{}
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camera_left_ir_optical_frame:
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{}
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camera_right_ir_frame:
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{}
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camera_right_ir_optical_frame:
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{}
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Update Interval: 0
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Value: true
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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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@@ -191,18 +247,18 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.08039925247430801
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Pitch: 0.6903989315032959
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.08857899904251099
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Yaw: 0.778578519821167
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1376
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000207000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000696000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000002070000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004180000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@@ -211,6 +267,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 2488
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X: 72
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Y: 27
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Width: 1850
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X: 70
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Y: 27
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Executable
+418
@@ -0,0 +1,418 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
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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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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="astra2">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/astra2/" />
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<link
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name="camera_link">
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<inertial>
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<origin
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xyz="-0.0160938085585399 -0.00100885505248632 0.0279919581775268"
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rpy="0 0 0" />
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||||
<mass
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||||
value="0.0101524380243699" />
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||||
<inertia
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ixx="1.69184979927567E-05"
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ixy="-8.18066547859061E-09"
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||||
ixz="-1.27426373196599E-09"
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||||
iyy="7.7096717121366E-07"
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||||
iyz="1.08838945581987E-08"
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||||
izz="1.61801971464778E-05" />
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||||
</inertial>
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||||
<visual>
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||||
<origin
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||||
xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
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||||
rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="${mesh_path}base_link.STL" />
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||||
</geometry>
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||||
<material
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||||
name="">
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||||
<color
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||||
rgba="0.827450980392157 0.698039215686274 0.490196078431373 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
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||||
xyz="0 0 0"
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||||
rpy="0 0 0" />
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||||
<geometry>
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||||
<mesh
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||||
filename="${mesh_path}base_link.STL" />
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</geometry>
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</collision>
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</link>
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||||
<link
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||||
name="camera_bottom_screw_frame">
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<inertial>
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||||
<origin
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||||
xyz="-0.00635589512085941 1.59480886486103E-08 0.0118534361269284"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00583601107155577" />
|
||||
<inertia
|
||||
ixx="3.65092579901689E-06"
|
||||
ixy="-5.00479838523244E-12"
|
||||
ixz="7.68810468643615E-07"
|
||||
iyy="2.03966087595316E-06"
|
||||
iyz="6.18841137398479E-13"
|
||||
izz="3.65126403038314E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.266666666666667 0.266666666666667 0.266666666666667 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
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||||
name="camera_bottom_screw_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_link" />
|
||||
<child
|
||||
link="camera_bottom_screw_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_ir_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742363E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000608348661221201" />
|
||||
<inertia
|
||||
ixx="6.79778952271057E-09"
|
||||
ixy="8.05787556448484E-13"
|
||||
ixz="9.13275008053385E-13"
|
||||
iyy="8.07147396496025E-09"
|
||||
iyz="1.28152628023355E-12"
|
||||
izz="8.07148645937271E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_ir_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_depth_frame" />
|
||||
<child
|
||||
link="camera_ir_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_ir_optical_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-5.33451517362171E-07 -6.0879600974216E-07 -0.00168460453866946"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000608348661221202" />
|
||||
<inertia
|
||||
ixx="8.07147396496025E-09"
|
||||
ixy="1.28152628023355E-12"
|
||||
ixz="-8.0578755644897E-13"
|
||||
iyy="8.07148645937271E-09"
|
||||
iyz="-9.13275008052949E-13"
|
||||
izz="6.79778952271057E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_ir_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent
|
||||
link="camera_ir_frame" />
|
||||
<child
|
||||
link="camera_ir_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_color_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.0010912488631539 -4.73353451897057E-07 7.19396296308746E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="7.68929599151334E-05" />
|
||||
<inertia
|
||||
ixx="3.55949372682833E-10"
|
||||
ixy="-6.02255513042918E-14"
|
||||
ixz="-1.32613402096388E-13"
|
||||
iyy="2.2724816811302E-10"
|
||||
iyz="-4.27828382910552E-14"
|
||||
izz="2.2743913744705E-10" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_colorl_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_colorl_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0025420000310987234 -0.01850000023841858 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="4.73353451897057E-07 -7.19396296308746E-07 -0.0010912488631539"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="7.68929599151334E-05" />
|
||||
<inertia
|
||||
ixx="2.2724816811302E-10"
|
||||
ixy="-4.27828382910548E-14"
|
||||
ixz="6.02255513042915E-14"
|
||||
iyy="2.2743913744705E-10"
|
||||
iyz="1.32613402096386E-13"
|
||||
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|
||||
</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="-0.00168460453866946 5.33451517362171E-07 6.08796009742395E-07"
|
||||
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|
||||
<mass
|
||||
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|
||||
<inertia
|
||||
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|
||||
ixy="8.05787556448476E-13"
|
||||
ixz="9.13275008053388E-13"
|
||||
iyy="8.07147396496025E-09"
|
||||
iyz="1.28152628023353E-12"
|
||||
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|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_depth_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
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|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${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="-5.33451517362171E-07 -6.08796009742075E-07 -0.00168460453866946"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000608348661221202" />
|
||||
<inertia
|
||||
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|
||||
ixy="1.28152628023353E-12"
|
||||
ixz="-8.05787556448886E-13"
|
||||
iyy="8.07148645937271E-09"
|
||||
iyz="-9.13275008052966E-13"
|
||||
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|
||||
</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>
|
||||
Executable
+471
@@ -0,0 +1,471 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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 xmlns:xacro="http://ros.org/wiki/xacro" name="gemini2">
|
||||
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2/" />
|
||||
<link
|
||||
name="camera_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0027714370634978 -9.29434319373592E-06 0.0128014057830239"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0186201988654731" />
|
||||
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|
||||
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|
||||
ixy="-4.88105621547421E-09"
|
||||
ixz="1.98670223779875E-08"
|
||||
iyy="1.7072236178685E-06"
|
||||
iyz="-8.49860443053716E-09"
|
||||
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|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="-0.01491 -0.025 -0.0125"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
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|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="camera_botter_screw_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00255175353418556 -0.00123907270798541 0.0118889783016768"
|
||||
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|
||||
<mass
|
||||
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|
||||
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|
||||
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|
||||
ixy="-1.84968755859098E-08"
|
||||
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|
||||
iyy="2.27625032346061E-07"
|
||||
iyz="1.65176768024159E-08"
|
||||
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|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_botter_screw_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_botter_screw_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_botter_screw_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.01491 -0.025 -0.0125"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_link" />
|
||||
<child
|
||||
link="camera_botter_screw_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_right_ir_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000620201436687004 -1.61358465547434E-08 -1.50984520398332E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
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|
||||
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|
||||
ixx="4.34107789199216E-09"
|
||||
ixy="-3.70099015891851E-13"
|
||||
ixz="-1.46784711283119E-13"
|
||||
iyy="4.84012228066652E-09"
|
||||
iyz="2.0076254107311E-14"
|
||||
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|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_ir_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.05000000074505806 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="1.61358465547434E-08 1.50984520398324E-07 -0.000620201436687004"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000453168343720438" />
|
||||
<inertia
|
||||
ixx="4.84012228066652E-09"
|
||||
ixy="2.00762541073067E-14"
|
||||
ixz="3.70099015891915E-13"
|
||||
iyy="4.84044599033091E-09"
|
||||
iyz="1.46784711283141E-13"
|
||||
izz="4.34107789199216E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra1_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="2.29364384785394E-07 -2.11520958501546E-07 -0.00105779474323097"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000139779411914196" />
|
||||
<inertia
|
||||
ixx="6.11273726117097E-10"
|
||||
ixy="3.95051289663905E-14"
|
||||
ixz="1.55845266007242E-13"
|
||||
iyy="6.11076547268852E-10"
|
||||
iyz="2.25440284353371E-14"
|
||||
izz="6.69129408711142E-10" />
|
||||
</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="0.0019099999917671084 -0.01400499977171421 4.999999873689376e-06"
|
||||
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="2.29364384785394E-07 -2.11520958501541E-07 -0.00105779474323097"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000139779411914196" />
|
||||
<inertia
|
||||
ixx="6.11273726117097E-10"
|
||||
ixy="3.95051289663901E-14"
|
||||
ixz="1.55845266007242E-13"
|
||||
iyy="6.11076547268852E-10"
|
||||
iyz="2.25440284353391E-14"
|
||||
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|
||||
</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_left_ir_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410662E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000453168343720439" />
|
||||
<inertia
|
||||
ixx="4.34107789199216E-09"
|
||||
ixy="-3.70099015888916E-13"
|
||||
ixz="-1.46784711288897E-13"
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||||
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@@ -0,0 +1,524 @@
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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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|
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@@ -0,0 +1,524 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
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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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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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|
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|
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
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|
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|
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|
||||
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|
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|
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|
||||
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|
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|
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|
||||
iyy="4.84011101176503E-09"
|
||||
iyz="2.21976196892825E-14"
|
||||
izz="4.84043649602512E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra2_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra2_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_ir_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.095 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="1.72113892998871E-08 1.52265896498545E-07 -0.00158020638644197"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000453167757456349" />
|
||||
<inertia
|
||||
ixx="4.84011101176503E-09"
|
||||
ixy="2.21976196892926E-14"
|
||||
ixz="3.7045737245453E-13"
|
||||
iyy="4.84043649602512E-09"
|
||||
iyz="1.46474854139357E-13"
|
||||
izz="4.34107394943177E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra2_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_infra2_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_ir_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5708 0 -1.5708" />
|
||||
<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="-0.00158020000774522 -2.03380748700632E-08 -1.59580992343651E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000453166139060244" />
|
||||
<inertia
|
||||
ixx="4.34106103694197E-09"
|
||||
ixy="-3.74713926702605E-13"
|
||||
ixz="-1.54192867143563E-13"
|
||||
iyy="4.84009702890227E-09"
|
||||
iyz="1.94453950166097E-14"
|
||||
izz="4.8404288092859E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.02375 0"
|
||||
rpy="0.0010157 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="2.03380748735327E-08 1.59580992343634E-07 -0.00158020000774522"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000453166139060244" />
|
||||
<inertia
|
||||
ixx="4.84009702890227E-09"
|
||||
ixy="1.94453950166198E-14"
|
||||
ixz="3.74713926702576E-13"
|
||||
iyy="4.8404288092859E-09"
|
||||
iyz="1.5419286714356E-13"
|
||||
izz="4.34106103694197E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_color_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_color_optical_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="-1.5708 0 -1.5708" />
|
||||
<parent
|
||||
link="camera_color_frame" />
|
||||
<child
|
||||
link="camera_color_optical_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
+40
-40
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
|
||||
Stephen Brawner ([email protected])
|
||||
Stephen Brawner ([email protected])
|
||||
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 xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_335_336">
|
||||
@@ -15,7 +15,7 @@ Stephen Brawner ([email protected])
|
||||
iyy="1.70686808598814E-06" iyz="-7.18717290327325E-09" izz="1.31766831843134E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<origin xyz="-0.01587 -0.025 -0.0125" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_link.STL" />
|
||||
</geometry>
|
||||
@@ -57,13 +57,13 @@ Stephen Brawner ([email protected])
|
||||
</link>
|
||||
|
||||
<joint name="camera_bottom_screw_frame_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<origin xyz="-0.01587 -0.025 -0.0125" rpy="0 0 0" />
|
||||
<parent link="camera_link" />
|
||||
<child link="camera_bottom_screw_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<link name="camera_infra_1_frame">
|
||||
<link name="camera_left_ir_frame">
|
||||
<inertial>
|
||||
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.4860800305164E-07"
|
||||
rpy="0 0 0" />
|
||||
@@ -73,9 +73,9 @@ Stephen Brawner ([email protected])
|
||||
iyy="4.84012226840139E-09" iyz="1.92888940614786E-14" izz="4.84044260907388E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<origin xyz="-25 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
@@ -84,19 +84,19 @@ Stephen Brawner ([email protected])
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="camera_infra_1_joint" type="fixed">
|
||||
<origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<child link="camera_infra_1_frame" />
|
||||
<joint name="camera_left_ir_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="camera_depth_frame" />
|
||||
<child link="camera_left_ir_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<link name="camera_infra_1_optical_frame">
|
||||
<link name="camera_left_ir_optical_frame">
|
||||
<inertial>
|
||||
<origin xyz="1.52683853338331E-08 1.48608003051636E-07 -0.00158020887627678" rpy="0 0 0" />
|
||||
<mass value="0.000453168790516429" />
|
||||
@@ -107,7 +107,7 @@ Stephen Brawner ([email protected])
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
@@ -116,19 +116,19 @@ Stephen Brawner ([email protected])
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="camera_infra_1_optical_joint" type="fixed">
|
||||
<origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<child link="camera_infra_1_optical_frame" />
|
||||
<joint name="camera_left_ir_optical_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent link="camera_left_ir_frame" />
|
||||
<child link="camera_left_ir_optical_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<link name="camera_infra2_frame">
|
||||
<link name="camera_right_ir_frame">
|
||||
<inertial>
|
||||
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.48608003050581E-07"
|
||||
rpy="0 0 0" />
|
||||
@@ -140,7 +140,7 @@ Stephen Brawner ([email protected])
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
@@ -149,19 +149,19 @@ Stephen Brawner ([email protected])
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="camera_infra2_joint" type="fixed">
|
||||
<origin xyz="0.01587 0.025 0.0125" rpy="0 0 0" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<child link="camera_infra2_frame" />
|
||||
<joint name="camera_right_ir_joint" type="fixed">
|
||||
<origin xyz="0 -0.05 0" rpy="0 0 0" />
|
||||
<parent link="camera_depth_frame" />
|
||||
<child link="camera_right_ir_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
|
||||
<link name="camera_infra2_optical_frame">
|
||||
<link name="camera_right_ir_optical_frame">
|
||||
<inertial>
|
||||
<origin xyz="1.52683853268942E-08 1.4860800305058E-07 -0.00158020887627678" rpy="0 0 0" />
|
||||
<mass value="0.000453168790516429" />
|
||||
@@ -172,7 +172,7 @@ Stephen Brawner ([email protected])
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
||||
@@ -181,15 +181,15 @@ Stephen Brawner ([email protected])
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
|
||||
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="camera_infra2_optical_joint" type="fixed">
|
||||
<origin xyz="0.01587 0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<child link="camera_infra2_optical_frame" />
|
||||
<joint name="camera_right_ir_optical_joint" 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>
|
||||
|
||||
@@ -220,8 +220,8 @@ Stephen Brawner ([email protected])
|
||||
</link>
|
||||
|
||||
<joint name="camera_color_joint" type="fixed">
|
||||
<origin xyz="0.017533 0.010995 0.012505" rpy="0 0 0" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<origin xyz="0.001663 -0.014005 0.000005" rpy="0 0 0" />
|
||||
<parent link="camera_depth_frame" />
|
||||
<child link="camera_color_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
@@ -253,8 +253,8 @@ Stephen Brawner ([email protected])
|
||||
</link>
|
||||
|
||||
<joint name="camera_color_optical_joint" type="fixed">
|
||||
<origin xyz="0.017533 0.010995 0.012505" rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<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>
|
||||
@@ -286,8 +286,8 @@ Stephen Brawner ([email protected])
|
||||
</link>
|
||||
|
||||
<joint name="camera_depth_joint" type="fixed">
|
||||
<origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="camera_link" />
|
||||
<child link="camera_depth_frame" />
|
||||
<axis xyz="0 0 0" />
|
||||
</joint>
|
||||
@@ -317,8 +317,8 @@ Stephen Brawner ([email protected])
|
||||
</link>
|
||||
|
||||
<joint name="camera_depth_optical_joint" type="fixed">
|
||||
<origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
|
||||
<parent link="camera_bottom_screw_frame" />
|
||||
<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>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="astra2" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="astra2.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
<!-- Connect the virtual root to the actual base link -->
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0.012323996052145958 0.03750000149011612 0.028150320053100586" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,9 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="test_femto_bolt" xmlns:xacro="http://wiki.ros.org/xacro">
|
||||
<xacro:include filename="femto_bolt.urdf.xacro" />
|
||||
<link name="base_link"/>
|
||||
<!-- Instantiate the femto bolt macro once (fixed attribute syntax) -->
|
||||
<xacro:femto_bolt prefix="camera" parent="base_link" use_nominal_extrinsics="true">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</xacro:femto_bolt>
|
||||
</robot>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini2" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="gemini2.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
<!-- Connect the virtual root to the actual base link -->
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0.01491 0.025 0.0125" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini2L" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="gemini2L.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
<!-- Connect the virtual root to the actual base link -->
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0.01033 0.05 0.0145" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini335L" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="gemini335L_336L.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
<!-- Connect the virtual root to the actual base link -->
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0.011715 0.0475 0.014311" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini336L" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="gemini335L_336L.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
<!-- Connect the virtual root to the actual base link -->
|
||||
<joint name="base_link_to_camera_link" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
<origin xyz="0.011715 0.0475 0.014311" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -1,9 +1,9 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini_335" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="_gemini_335_336.urdf.xacro"/>
|
||||
<xacro:include filename="gemini_335_336.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
@@ -11,6 +11,6 @@
|
||||
<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"/>
|
||||
<origin xyz="0.01587 0.025 0.0125" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
@@ -1,9 +1,9 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
|
||||
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="gemini_336" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<xacro:include filename="_gemini_335_336.urdf.xacro"/>
|
||||
<xacro:include filename="gemini_335_336.urdf.xacro"/>
|
||||
<!-- Define a virtual root link -->
|
||||
<link name="base_link"/>
|
||||
|
||||
@@ -11,6 +11,6 @@
|
||||
<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"/>
|
||||
<origin xyz="0.01587 0.025 0.0125" rpy="0 0 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
Reference in New Issue
Block a user