Add URDF models for various Orbbec cameras

orbbec_description/CMakeLists.txt

@@ -4,11 +4,6 @@ project(orbbec_description)
 find_package(ament_cmake REQUIRED)
 
 # Install files
-install(DIRECTORY 
+install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})
-        launch 
-        meshes
-        urdf
-        rviz
-        DESTINATION share/${PROJECT_NAME})
 
 ament_package()

orbbec_description/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>orbbec_description</name>
-  <version>1.5.14</version>
+  <version>2.5.4</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">toosimple</maintainer>
   <license>Apache-2.0</license>

orbbec_description/rviz/urdf.rviz

@@ -9,8 +9,10 @@ Panels:
         - /Grid1
         - /RobotModel1
         - /RobotModel1/Description Topic1
+        - /TF1
+        - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 1079
+    Tree Height: 719
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -97,22 +99,12 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_infra2_frame:
+        camera_left_ir_frame:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_infra2_optical_frame:
+        camera_left_ir_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_infra_1_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_infra_1_optical_frame:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -122,6 +114,16 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        camera_right_ir_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_right_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Mass Properties:
         Inertia: false
         Mass: false
@@ -130,6 +132,60 @@ Visualization Manager:
       Update Interval: 0
       Value: true
       Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: true
+        camera_bottom_screw_frame:
+          Value: false
+        camera_color_frame:
+          Value: true
+        camera_color_optical_frame:
+          Value: false
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: false
+        camera_left_ir_frame:
+          Value: true
+        camera_left_ir_optical_frame:
+          Value: false
+        camera_link:
+          Value: true
+        camera_right_ir_frame:
+          Value: true
+        camera_right_ir_optical_frame:
+          Value: false
+      Marker Scale: 0.05000000074505806
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          camera_link:
+            camera_bottom_screw_frame:
+              camera_color_frame:
+                {}
+              camera_color_optical_frame:
+                {}
+              camera_depth_frame:
+                {}
+              camera_depth_optical_frame:
+                {}
+              camera_left_ir_frame:
+                {}
+              camera_left_ir_optical_frame:
+                {}
+              camera_right_ir_frame:
+                {}
+              camera_right_ir_optical_frame:
+                {}
+      Update Interval: 0
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -191,18 +247,18 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.08039925247430801
+      Pitch: 0.6903989315032959
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.08857899904251099
+      Yaw: 0.778578519821167
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1376
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000207000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000696000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002070000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004180000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -211,6 +267,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2488
+  Width: 1850
-  X: 72
+  X: 70
   Y: 27

orbbec_description/urdf/astra2.urdf.xacro

@@ -0,0 +1,418 @@
+<?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="astra2">
+    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/astra2/" />
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="-0.0160938085585399 -0.00100885505248632 0.0279919581775268"
+        rpy="0 0 0" />
+      <mass
+        value="0.0101524380243699" />
+      <inertia
+        ixx="1.69184979927567E-05"
+        ixy="-8.18066547859061E-09"
+        ixz="-1.27426373196599E-09"
+        iyy="7.7096717121366E-07"
+        iyz="1.08838945581987E-08"
+        izz="1.61801971464778E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.698039215686274 0.490196078431373 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_bottom_screw_frame">
+    <inertial>
+      <origin
+        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
+    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"
+        izz="3.55949372682833E-10" />
+    </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"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221201" />
+      <inertia
+        ixx="6.79778952271057E-09"
+        ixy="8.05787556448476E-13"
+        ixz="9.13275008053388E-13"
+        iyy="8.07147396496025E-09"
+        iyz="1.28152628023353E-12"
+        izz="8.07148645937271E-09" />
+    </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="-5.33451517362171E-07 -6.08796009742075E-07 -0.00168460453866946"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221202" />
+      <inertia
+        ixx="8.07147396496025E-09"
+        ixy="1.28152628023353E-12"
+        ixz="-8.05787556448886E-13"
+        iyy="8.07148645937271E-09"
+        iyz="-9.13275008052966E-13"
+        izz="6.79778952271057E-09" />
+    </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>

orbbec_description/urdf/gemini2.urdf.xacro

@@ -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" />
+      <inertia
+        ixx="1.38952652762223E-05"
+        ixy="-4.88105621547421E-09"
+        ixz="1.98670223779875E-08"
+        iyy="1.7072236178685E-06"
+        iyz="-8.49860443053716E-09"
+        izz="1.31795237727551E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.01491 -0.025 -0.0125"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_botter_screw_frame">
+    <inertial>
+      <origin
+        xyz="0.00255175353418556 -0.00123907270798541 0.0118889783016768"
+        rpy="0 0 0" />
+      <mass
+        value="0.00564464822744556" />
+      <inertia
+        ixx="3.07688942133184E-06"
+        ixy="-1.84968755859098E-08"
+        ixz="-9.2787127214088E-09"
+        iyy="2.27625032346061E-07"
+        iyz="1.65176768024159E-08"
+        izz="2.93984854119768E-06" />
+    </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
+        value="0.000453168343720438" />
+      <inertia
+        ixx="4.34107789199216E-09"
+        ixy="-3.70099015891851E-13"
+        ixz="-1.46784711283119E-13"
+        iyy="4.84012228066652E-09"
+        iyz="2.0076254107311E-14"
+        izz="4.84044599033091E-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_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"
+        izz="6.69129408711142E-10" />
+    </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"
+        iyy="4.84012228066651E-09"
+        iyz="2.0076254105875E-14"
+        izz="4.8404459903309E-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_left_ir_frame"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_left_ir_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_left_ir_optical_frame">
+    <inertial>
+      <origin
+        xyz="1.6135846551274E-08 1.50984520410652E-07 -0.000620201436687001"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720439" />
+      <inertia
+        ixx="4.84012228066652E-09"
+        ixy="2.00762541058687E-14"
+        ixz="3.70099015888909E-13"
+        iyy="4.8404459903309E-09"
+        iyz="1.46784711288896E-13"
+        izz="4.34107789199216E-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_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_depth_frame">
+    <inertial>
+      <origin
+        xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410661E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720439" />
+      <inertia
+        ixx="4.34107789199216E-09"
+        ixy="-3.70099015888929E-13"
+        ixz="-1.46784711288886E-13"
+        iyy="4.84012228066651E-09"
+        iyz="2.00762541058859E-14"
+        izz="4.8404459903309E-09" />
+    </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>
+</robot>

orbbec_description/urdf/gemini2L.urdf.xacro

@@ -0,0 +1,524 @@
+<?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="gemini2l">
+    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2l/" />
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="-0.0011764 -0.00036824 0.013857"
+        rpy="0 0 0" />
+      <mass
+        value="0.0063118" />
+      <inertia
+        ixx="6.2823E-06"
+        ixy="-1.425E-09"
+        ixz="4.3925E-09"
+        iyy="3.0429E-07"
+        iyz="2.3803E-08"
+        izz="6.0224E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.01033 -0.05 -0.0145"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_bottom_screw_frame">
+    <inertial>
+      <origin
+        xyz="0.0029372 -0.00037745 0.014561"
+        rpy="0 0 0" />
+      <mass
+        value="0.037165" />
+      <inertia
+        ixx="4.9388E-05"
+        ixy="-4.4007E-08"
+        ixz="-6.3785E-09"
+        iyy="3.6527E-06"
+        iyz="6.164E-08"
+        izz="4.6538E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_bottom_screw_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_bottom_screw_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_bottom_screw_frame"
+    type="fixed">
+    <origin
+      xyz="-0.01033 -0.05 -0.0145"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_bottom_screw_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_right_ir_frame">
+    <inertial>
+      <origin
+        xyz="0.00133699020857289 -3.04478174825706E-08 3.7713891998328E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.000234825886837936" />
+      <inertia
+        ixx="2.7973722771565E-09"
+        ixy="4.86630909822049E-16"
+        ixz="-6.02474175028887E-16"
+        iyy="1.60708521944039E-09"
+        iyz="2.50471029328346E-14"
+        izz="1.60707326572337E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR2_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR2_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_right_ir_frame"
+    type="fixed">
+    <origin
+      xyz="0 -0.1 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="3.04478174825706E-08 -3.77138919982661E-08 0.00133699020857289"
+        rpy="0 0 0" />
+      <mass
+        value="0.000234825886837936" />
+      <inertia
+        ixx="1.60708521944039E-09"
+        ixy="2.50471029328366E-14"
+        ixz="-4.86630909830569E-16"
+        iyy="1.60707326572337E-09"
+        iyz="6.02474175031465E-16"
+        izz="2.7973722771565E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR2_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR2_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_left_ir_frame">
+    <inertial>
+      <origin
+        xyz="0.0013369893867687 -3.05135768111087E-08 3.78324507307797E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.000469652030784025" />
+      <inertia
+        ixx="5.59475001898519E-09"
+        ixy="9.75895068782649E-16"
+        ixz="-1.20960040000288E-15"
+        iyy="3.2141712578372E-09"
+        iyz="5.02084346840751E-14"
+        izz="3.21414720967441E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR1_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR1_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="3.05135768111087E-08 -3.78324507307641E-08 0.0013369893867687"
+        rpy="0 0 0" />
+      <mass
+        value="0.000469652030784025" />
+      <inertia
+        ixx="3.2141712578372E-09"
+        ixy="5.02084346840749E-14"
+        ixz="-9.75895068788212E-16"
+        iyy="3.21414720967441E-09"
+        iyz="1.20960040000404E-15"
+        izz="5.59475001898519E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR1_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IR1_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_left_ir_optical_frame"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 -1.5708" />
+    <parent
+      link="camera_left_ir_frame" />
+    <child
+      link="camera_left_ir_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_color_frame">
+    <inertial>
+      <origin
+        xyz="0.00133699020857289 -3.04478174791012E-08 3.77138920013449E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.000234825886837936" />
+      <inertia
+        ixx="2.79737227715649E-09"
+        ixy="4.86630909530369E-16"
+        ixz="-6.02474175560006E-16"
+        iyy="1.60708521944039E-09"
+        iyz="2.50471029324911E-14"
+        izz="1.60707326572337E-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="3.9789e-11 -0.025 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="3.04478174756317E-08 -3.77138920013243E-08 0.00133699020857289"
+        rpy="0 0 0" />
+      <mass
+        value="0.000234825886837936" />
+      <inertia
+        ixx="1.60708521944039E-09"
+        ixy="2.50471029324865E-14"
+        ixz="-4.8663090954064E-16"
+        iyy="1.60707326572337E-09"
+        iyz="6.02474175558627E-16"
+        izz="2.79737227715649E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_rgb_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_rgb_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_imu_frame">
+    <inertial>
+      <origin
+        xyz="-0.000484999999999961 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="1.02857242451587E-05" />
+      <inertia
+        ixx="1.90187596157957E-11"
+        ixy="-2.04047577952548E-28"
+        ixz="-4.8688949454117E-29"
+        iyy="7.51977467552025E-12"
+        iyz="-1.23081513238144E-27"
+        izz="1.31119579306535E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_imu_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_imu_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_imu_frame"
+    type="fixed">
+    <origin
+      xyz="-0.01507 -0.015159 0.0025797"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_imu_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_depth_frame">
+    <inertial>
+      <origin
+        xyz="0.0013369893867687 -3.05135768041698E-08 3.7832450730772E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.000469652030784025" />
+      <inertia
+        ixx="5.59475001898519E-09"
+        ixy="9.75895068794067E-16"
+        ixz="-1.2096004000043E-15"
+        iyy="3.2141712578372E-09"
+        iyz="5.02084346840699E-14"
+        izz="3.21414720967441E-09" />
+    </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>
+</robot>

orbbec_description/urdf/gemini335L_336L.urdf.xacro

@@ -0,0 +1,524 @@
+<?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="gemini_335L_336L">
+    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335L_336L/" />
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="0.00287577972418718 0.000617475958990782 0.0141094270811986"
+        rpy="0 0 0" />
+      <mass
+        value="0.0330710167577971" />
+      <inertia
+        ixx="4.44764516625696E-05"
+        ixy="5.53948591538607E-08"
+        ixz="-2.79060738018455E-08"
+        iyy="3.07720636867613E-06"
+        iyz="1.65209163393457E-07"
+        izz="4.23385079682874E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.011715 -0.0475 -0.014311"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_color_screw_frame">
+    <inertial>
+      <origin
+        xyz="-0.000565327084882765 -0.000754794567604389 0.0132965378040367"
+        rpy="0 0 0" />
+      <mass
+        value="0.00682237197281727" />
+      <inertia
+        ixx="6.29665283187838E-06"
+        ixy="-5.56290557545124E-09"
+        ixz="-4.00728156039594E-09"
+        iyy="3.51296306719609E-07"
+        iyz="1.01025992411894E-07"
+        izz="5.98951376451163E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_screw_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_screw_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_color_screw_frame"
+    type="fixed">
+    <origin
+      xyz="-0.011715 -0.0475 -0.014311"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_color_screw_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_IMU_frame">
+    <inertial>
+      <origin
+        xyz="-0.000484999999999999 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="1.1218632E-05" />
+      <inertia
+        ixx="2.18587565431999E-11"
+        ixy="0"
+        ixz="-3.24383195391647E-28"
+        iyy="1.0215031879E-11"
+        iyz="-3.36058814408671E-29"
+        izz="1.34029931389999E-11" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IMU_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_IMU_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_IMU_frame"
+    type="fixed">
+    <origin
+      xyz="-0.01425 -0.007866 -0.001068"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_IMU_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_depth_frame">
+    <inertial>
+      <origin
+        xyz="-0.00158020638644197 -1.72113892998871E-08 -1.52265896501485E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.00045316775745635" />
+      <inertia
+        ixx="4.34107394943177E-09"
+        ixy="-3.70457372455813E-13"
+        ixz="-1.46474854133768E-13"
+        iyy="4.84011101176503E-09"
+        iyz="2.21976196909378E-14"
+        izz="4.84043649602512E-09" />
+    </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_left_ir_frame">
+    <inertial>
+      <origin
+        xyz="-0.00158020638644197 -1.72113892998871E-08 -1.52265896501463E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.00045316775745635" />
+      <inertia
+        ixx="4.34107394943177E-09"
+        ixy="-3.70457372455807E-13"
+        ixz="-1.464748541338E-13"
+        iyy="4.84011101176503E-09"
+        iyz="2.21976196909559E-14"
+        izz="4.84043649602512E-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_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="1.72113892998871E-08 1.52265896501462E-07 -0.00158020638644197"
+        rpy="0 0 0" />
+      <mass
+        value="0.00045316775745635" />
+      <inertia
+        ixx="4.84011101176503E-09"
+        ixy="2.2197619690945E-14"
+        ixz="3.70457372455806E-13"
+        iyy="4.84043649602512E-09"
+        iyz="1.46474854133777E-13"
+        izz="4.34107394943177E-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_left_ir_optical_frame"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 -1.5708" />
+    <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="-0.00158020638644197 -1.72113892998871E-08 -1.5226589649853E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453167757456349" />
+      <inertia
+        ixx="4.34107394943177E-09"
+        ixy="-3.70457372454514E-13"
+        ixz="-1.46474854139355E-13"
+        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>

orbbec_description/urdf/gemini_335_336.urdf.xacro

@@ -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">
+    <joint name="camera_left_ir_joint" type="fixed">
-        <origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
-        <parent link="camera_bottom_screw_frame" />
+        <parent link="camera_depth_frame" />
-        <child link="camera_infra_1_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">
+    <joint name="camera_left_ir_optical_joint" type="fixed">
-        <origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
+        <origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
-        <parent link="camera_bottom_screw_frame" />
+        <parent link="camera_left_ir_frame" />
-        <child link="camera_infra_1_optical_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">
+    <joint name="camera_right_ir_joint" type="fixed">
-        <origin xyz="0.01587 0.025 0.0125" rpy="0 0 0" />
+        <origin xyz="0 -0.05 0" rpy="0 0 0" />
-        <parent link="camera_bottom_screw_frame" />
+        <parent link="camera_depth_frame" />
-        <child link="camera_infra2_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">
+    <joint name="camera_right_ir_optical_joint" type="fixed">
-        <origin xyz="0.01587 0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
+        <origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
-        <parent link="camera_bottom_screw_frame" />
+        <parent link="camera_right_ir_frame" />
-        <child link="camera_infra2_optical_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" />
+        <origin xyz="0.001663 -0.014005 0.000005" rpy="0 0 0" />
-        <parent link="camera_bottom_screw_frame" />
+        <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" />
+        <origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
-        <parent link="camera_bottom_screw_frame" />
+        <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" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
-        <parent link="camera_bottom_screw_frame" />
+        <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" />
+        <origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
-        <parent link="camera_bottom_screw_frame" />
+        <parent link="camera_depth_frame" />
         <child link="camera_depth_optical_frame" />
         <axis xyz="0 0 0" />
     </joint>

orbbec_description/urdf/test_astra2.urdf.xacro

@@ -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>

orbbec_description/urdf/test_femto_bolt.urdf.xacro

@@ -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>

orbbec_description/urdf/test_gemini2.urdf.xacro

@@ -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>

orbbec_description/urdf/test_gemini2L.urdf.xacro

@@ -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>

orbbec_description/urdf/test_gemini335L.urdf.xacro

@@ -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>

orbbec_description/urdf/test_gemini336L.urdf.xacro

@@ -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>

orbbec_description/urdf/test_gemini_335.urdf.xarco

@@ -3,7 +3,7 @@
      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>

orbbec_description/urdf/test_gemini_336.urdf.xarco

@@ -3,7 +3,7 @@
      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>