From 79c40533ebe2702d490e22e480bf0f9a05103038 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 5 Nov 2025 17:09:19 +0800
Subject: [PATCH] Refactor URDF files for camera frames and joints

---
 orbbec_description/urdf/astra2.urdf.xacro     | 36 ++++-----
 orbbec_description/urdf/gemini2.urdf.xacro    | 52 ++++++-------
 orbbec_description/urdf/gemini2L.urdf.xacro   | 58 +++++++-------
 .../urdf/gemini335L_336L.urdf.xacro           | 52 ++++++-------
 .../urdf/gemini335Le.urdf.xacro               | 78 +++++++++++++------
 .../urdf/gemini335Lg.urdf.xacro               | 58 +++++++-------
 .../urdf/gemini_335_336.urdf.xacro            | 36 ++++-----
 .../urdf/test_astra2.urdf.xacro               |  2 +-
 .../urdf/test_gemini2.urdf.xacro              |  2 +-
 .../urdf/test_gemini2L.urdf.xacro             |  2 +-
 .../urdf/test_gemini335L.urdf.xacro           |  2 +-
 .../urdf/test_gemini335Le.urdf.xacro          |  4 +-
 .../urdf/test_gemini335Lg.urdf.xacro          |  2 +-
 .../urdf/test_gemini336L.urdf.xacro           |  2 +-
 .../urdf/test_gemini_335.urdf.xarco           |  2 +-
 .../urdf/test_gemini_336.urdf.xarco           |  2 +-
 16 files changed, 210 insertions(+), 180 deletions(-)

diff --git a/orbbec_description/urdf/astra2.urdf.xacro b/orbbec_description/urdf/astra2.urdf.xacro
index 300ef495..2b25ac41 100755
--- a/orbbec_description/urdf/astra2.urdf.xacro
+++ b/orbbec_description/urdf/astra2.urdf.xacro
@@ -22,7 +22,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -88,7 +88,7 @@
     name="camera_bottom_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
       rpy="0 0 0" />
     <parent
       link="camera_link" />
@@ -98,7 +98,7 @@
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_frame">
+    name="camera_ir_frame">
     <inertial>
       <origin
         xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742363E-07"
@@ -138,20 +138,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_frame"
+    name="camera_ir_frame"
     type="fixed">
     <origin
-      xyz="0.012323995999904 0.0374999999985815 0.0281503197112"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra1_frame" />
+      link="camera_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_optical_frame">
+    name="camera_ir_optical_frame">
     <inertial>
       <origin
         xyz="-5.33451517362171E-07 -6.0879600974216E-07 -0.00168460453866946"
@@ -191,20 +191,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_optical_frame"
+    name="camera_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra1_frame" />
+      link="camera_ir_frame" />
     <child
-      link="camera_infra1_optical_frame" />
+      link="camera_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_colorl_frame">
+    name="camera_color_frame">
     <inertial>
       <origin
         xyz="-0.0010912488631539 -4.73353451897057E-07 7.19396296308746E-07"
@@ -247,12 +247,12 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.014865995999904 0.0189999999985815 0.0281503197112"
+      xyz="0.0025420000310987234 -0.01850000023841858 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_colorl_frame" />
+      link="camera_color_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -303,7 +303,7 @@
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_colorl_frame" />
+      link="camera_color_frame" />
     <child
       link="camera_color_optical_frame" />
     <axis
@@ -353,10 +353,10 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.012323995999904 0.0374999999985815 0.0281503197112"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
diff --git a/orbbec_description/urdf/gemini2.urdf.xacro b/orbbec_description/urdf/gemini2.urdf.xacro
index 0c1fa3a3..a043a548 100755
--- a/orbbec_description/urdf/gemini2.urdf.xacro
+++ b/orbbec_description/urdf/gemini2.urdf.xacro
@@ -22,7 +22,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.01491 -0.025 -0.0125"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -88,7 +88,7 @@
     name="camera_botter_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.01491 -0.025 -0.0125"
       rpy="0 0 0" />
     <parent
       link="camera_link" />
@@ -98,7 +98,7 @@
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="-0.000620201436687004 -1.61358465547434E-08 -1.50984520398332E-07"
@@ -138,20 +138,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_frame"
+    name="camera_right_ir_frame"
     type="fixed">
     <origin
-      xyz="0.01491 -0.025 0.0125"
+      xyz="0 -0.05000000074505806 0"
       rpy="0 0 0" />
     <parent
-      link="camera_botter_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra1_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_optical_frame">
+    name="camera_right_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.61358465547434E-08 1.50984520398324E-07 -0.000620201436687004"
@@ -191,15 +191,15 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_optical_frame"
+    name="camera_right_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra1_frame" />
+      link="camera_right_ir_frame" />
     <child
-      link="camera_infra1_optical_frame" />
+      link="camera_right_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -247,10 +247,10 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.01682 0.010995 0.012505"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
+      xyz="0.0019099999917671084 -0.01400499977171421 4.999999873689376e-06"
+      rpy="0 0 0" />
     <parent
-      link="camera_botter_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_color_frame" />
     <axis
@@ -301,7 +301,7 @@
     type="fixed">
     <origin
       xyz="0 0 0"
-      rpy="0 0 0" />
+      rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
       link="camera_color_frame" />
     <child
@@ -310,7 +310,7 @@
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410662E-07"
@@ -350,20 +350,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra2_frame"
+    name="camera_left_ir_frame"
     type="fixed">
     <origin
-      xyz="0.01491 0.025 0.0125"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_botter_screw_frame" />
+      link="camera_link" />
     <child
-      link="camera_infra2_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_optical_frame">
+    name="camera_left_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.6135846551274E-08 1.50984520410652E-07 -0.000620201436687001"
@@ -403,15 +403,15 @@
     </collision>
   </link>
   <joint
-    name="camera_infra2_optical_frame"
+    name="camera_left_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra2_frame" />
+      link="camera_left_ir_frame" />
     <child
-      link="camera_infra2_optical_frame" />
+      link="camera_left_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -459,10 +459,10 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.01491 0.025 0.0125"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_botter_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
diff --git a/orbbec_description/urdf/gemini2L.urdf.xacro b/orbbec_description/urdf/gemini2L.urdf.xacro
index 0f20044c..c39ced2d 100644
--- a/orbbec_description/urdf/gemini2L.urdf.xacro
+++ b/orbbec_description/urdf/gemini2L.urdf.xacro
@@ -22,7 +22,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.01033 -0.05 -0.0145"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -88,7 +88,7 @@
     name="camera_bottom_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.01033 -0.05 -0.0145"
       rpy="0 0 0" />
     <parent
       link="camera_link" />
@@ -98,7 +98,7 @@
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_IR2_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="0.00133699020857289 -3.04478174825706E-08 3.7713891998328E-08"
@@ -138,20 +138,20 @@
     </collision>
   </link>
   <joint
-    name="camera_IR2_frame"
+    name="camera_right_ir_frame"
     type="fixed">
     <origin
-      xyz="0.01033 -0.05 0.0145"
+      xyz="0 -0.1 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_IR2_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_IR2_optical_frame">
+    name="camera_right_ir_optical_frame">
     <inertial>
       <origin
         xyz="3.04478174825706E-08 -3.77138919982661E-08 0.00133699020857289"
@@ -191,20 +191,20 @@
     </collision>
   </link>
   <joint
-    name="camera_IR2_optical_frame"
+    name="camera_right_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="camera_IR2_frame" />
+      link="camera_right_ir_frame" />
     <child
-      link="camera_IR2_optical_frame" />
+      link="camera_right_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_IR1_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="0.0013369893867687 -3.05135768111087E-08 3.78324507307797E-08"
@@ -244,20 +244,20 @@
     </collision>
   </link>
   <joint
-    name="camera_IR1_frame"
+    name="camera_left_ir_frame"
     type="fixed">
     <origin
-      xyz="0.01033 0.05 0.0145"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_IR1_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_IR1_optical_frame">
+    name="camera_left_ir_optical_frame">
     <inertial>
       <origin
         xyz="3.05135768111087E-08 -3.78324507307641E-08 0.0013369893867687"
@@ -297,15 +297,15 @@
     </collision>
   </link>
   <joint
-    name="camera_IR1_optical_frame"
+    name="camera_left_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="camera_IR1_frame" />
+      link="camera_left_ir_frame" />
     <child
-      link="camera_IR1_optical_frame" />
+      link="camera_left_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -353,17 +353,17 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.010330000039789 0.025 0.0145"
+      xyz="3.9789e-11 -0.025 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_color_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_rgb_optical_frame">
+    name="camera_color_optical_frame">
     <inertial>
       <origin
         xyz="3.04478174756317E-08 -3.77138920013243E-08 0.00133699020857289"
@@ -403,7 +403,7 @@
     </collision>
   </link>
   <joint
-    name="camera_rgb_optical_frame"
+    name="camera_color_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
@@ -411,7 +411,7 @@
     <parent
       link="camera_color_frame" />
     <child
-      link="camera_rgb_optical_frame" />
+      link="camera_color_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -459,10 +459,10 @@
     name="camera_imu_frame"
     type="fixed">
     <origin
-      xyz="-0.00473999996021007 0.034841019999999 0.017079659999999"
+      xyz="-0.01507 -0.015159 0.0025797"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_imu_frame" />
     <axis
@@ -512,10 +512,10 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.010330000039789 0.05 0.0145"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
diff --git a/orbbec_description/urdf/gemini335L_336L.urdf.xacro b/orbbec_description/urdf/gemini335L_336L.urdf.xacro
index fd2faa60..4aac4a13 100644
--- a/orbbec_description/urdf/gemini335L_336L.urdf.xacro
+++ b/orbbec_description/urdf/gemini335L_336L.urdf.xacro
@@ -22,7 +22,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.011715 -0.0475 -0.014311"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -88,7 +88,7 @@
     name="camera_color_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.011715 -0.0475 -0.014311"
       rpy="0 0 0" />
     <parent
       link="camera_link" />
@@ -141,10 +141,10 @@
     name="camera_IMU_frame"
     type="fixed">
     <origin
-      xyz="-0.002535 0.039634 0.013243"
+      xyz="-0.01425 -0.007866 -0.001068"
       rpy="0 0 0" />
     <parent
-      link="camera_color_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_IMU_frame" />
     <axis
@@ -194,17 +194,17 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.011715 0.0475 0.014311"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_color_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="-0.00158020638644197 -1.72113892998871E-08 -1.52265896501463E-07"
@@ -244,20 +244,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_frame"
+    name="camera_left_ir_frame"
     type="fixed">
     <origin
-      xyz="0.011715 0.0475 0.014311"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_color_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_optical_frame">
+    name="camera_left_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.72113892998871E-08 1.52265896501462E-07 -0.00158020638644197"
@@ -297,20 +297,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra1_optical_frame"
+    name="camera_left_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <child
-      link="camera_infra1_optical_frame" />
+      link="camera_left_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="-0.00158020638644197 -1.72113892998871E-08 -1.5226589649853E-07"
@@ -350,20 +350,20 @@
     </collision>
   </link>
   <joint
-    name="camera_infra2_frame"
+    name="camera_right_ir_frame"
     type="fixed">
     <origin
-      xyz="0.011715 -0.0475 0.014311"
+      xyz="0 -0.095 0"
       rpy="0 0 0" />
     <parent
-      link="camera_color_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_optical_frame">
+    name="camera_right_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.72113892998871E-08 1.52265896498545E-07 -0.00158020638644197"
@@ -403,15 +403,15 @@
     </collision>
   </link>
   <joint
-    name="camera_infra2_optical_frame"
+    name="camera_right_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5708 0 -1.5708" />
     <parent
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <child
-      link="camera_infra2_optical_frame" />
+      link="camera_right_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -459,10 +459,10 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.011715 0.02375 0.014311"
+      xyz="0 -0.02375 0"
       rpy="0.0010157 0 0" />
     <parent
-      link="camera_color_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_color_frame" />
     <axis
diff --git a/orbbec_description/urdf/gemini335Le.urdf.xacro b/orbbec_description/urdf/gemini335Le.urdf.xacro
index 4711d2ca..b7eed0fa 100755
--- a/orbbec_description/urdf/gemini335Le.urdf.xacro
+++ b/orbbec_description/urdf/gemini335Le.urdf.xacro
@@ -24,7 +24,7 @@ Stephen Brawner (brawner@gmail.com)
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.034005 -0.0475 -0.014048"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -85,22 +85,52 @@ Stephen Brawner (brawner@gmail.com)
           filename="${mesh_path}camera_botton_screw_frame.STL" />
       </geometry>
     </collision>
+  </link>
+    <link
+    name="camera_depth_frame">
+    <inertial>
+      <origin
+        xyz="-0.0015782 9.8699E-08 -1.6899E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.00045313" />
+      <inertia
+        ixx="4.3406E-09"
+        ixy="-5.1012E-13"
+        ixz="-6.3511E-13"
+        iyy="4.8388E-09"
+        iyz="1.081E-12"
+        izz="4.8408E-09" />
+    </inertial>
   </link>
   <joint
-    name="base_Joint"
+    name="camera_depth_frame_Joint"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_botton_screw_frame" />
-    <child
       link="camera_link" />
+    <child
+      link="camera_depth_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <joint
+    name="base_Joint"
+    type="fixed">
+    <origin
+      xyz="-0.034005 -0.0475 -0.014048"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_botton_screw_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="canera_right_IR_ROS_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="-0.0015782 9.8699E-08 -1.6899E-07"
@@ -140,20 +170,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="canera_right_IR_ROS_Joint"
+    name="camera_right_ir_Joint"
     type="fixed">
     <origin
-      xyz="0.034005 -0.0475 0.014048"
+      xyz="0 -0.095 0"
       rpy="0 0 0" />
     <parent
-      link="camera_link" />
+      link="camera_depth_frame" />
     <child
-      link="canera_right_IR_ROS_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="canera_left_IR_ROS_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="-0.0015782 9.8699E-08 -1.6899E-07"
@@ -193,20 +223,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="canera_left_IR_ROS_Joint"
+    name="camera_left_ir_Joint"
     type="fixed">
     <origin
-      xyz="0.034005 0.0475 0.014048"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_link" />
+      link="camera_depth_frame" />
     <child
-      link="canera_left_IR_ROS_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="canera_RGB_ROS_frame">
+    name="camera_color_frame">
     <inertial>
       <origin
         xyz="-0.0015872 6.5366E-08 -8.8281E-08"
@@ -246,20 +276,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="canera_RGB_ROS_Joint"
+    name="camera_color_Joint"
     type="fixed">
     <origin
-      xyz="0.034014 0.02375 0.014048"
+      xyz="9e-06 -0.02375 0"
       rpy="0 0 0" />
     <parent
-      link="camera_link" />
+      link="camera_depth_frame" />
     <child
-      link="canera_RGB_ROS_frame" />
+      link="camera_color_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="canera_IMU_ROS_frame">
+    name="camera_imu_frame">
     <inertial>
       <origin
         xyz="0.012945 -0.036548 0.00068975"
@@ -299,15 +329,15 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="canera_IMU_ROS_Joint"
+    name="camera_imu_Joint"
     type="fixed">
     <origin
-      xyz="0.019757 0.03619 0.013358"
+      xyz="-0.014248 -0.01131 -0.00069"
       rpy="0 0 0" />
     <parent
-      link="camera_link" />
+      link="camera_depth_frame" />
     <child
-      link="canera_IMU_ROS_frame" />
+      link="camera_imu_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
diff --git a/orbbec_description/urdf/gemini335Lg.urdf.xacro b/orbbec_description/urdf/gemini335Lg.urdf.xacro
index d4629798..04626a4c 100755
--- a/orbbec_description/urdf/gemini335Lg.urdf.xacro
+++ b/orbbec_description/urdf/gemini335Lg.urdf.xacro
@@ -24,7 +24,7 @@ Stephen Brawner (brawner@gmail.com)
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -90,7 +90,7 @@ Stephen Brawner (brawner@gmail.com)
     name="camera_bottom_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
       rpy="0 0 0" />
     <parent
       link="camera_link" />
@@ -100,7 +100,7 @@ Stephen Brawner (brawner@gmail.com)
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_frame">
+    name="camera_left_ir_frame">
     <inertial>
       <origin
         xyz="-0.00158020638644197 -1.72113892998871E-08 -1.52265896555797E-07"
@@ -140,20 +140,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_infra1_frame"
+    name="camera_left_ir_frame"
     type="fixed">
     <origin
-      xyz="0.0117149999999995 0.0475 0.0143111800025738"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra1_optical_frame">
+    name="camera_left_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.72113892998871E-08 1.52265896555812E-07 -0.00158020638644197"
@@ -193,15 +193,15 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_infra1_optical_frame"
+    name="camera_left_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
-      link="camera_infra1_frame" />
+      link="camera_left_ir_frame" />
     <child
-      link="camera_infra1_optical_frame" />
+      link="camera_left_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -249,10 +249,10 @@ Stephen Brawner (brawner@gmail.com)
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.0117149999999995 0.02375 0.0143111800025738"
+      xyz="0 -0.023749999701976776 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_color_frame" />
     <axis
@@ -312,7 +312,7 @@ Stephen Brawner (brawner@gmail.com)
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_frame">
+    name="camera_right_ir_frame">
     <inertial>
       <origin
         xyz="-0.00158020638644197 -1.7211389306826E-08 -1.5226589655147E-07"
@@ -352,20 +352,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_infra2_frame"
+    name="camera_right_ir_frame"
     type="fixed">
     <origin
-      xyz="0.0117149999999995 -0.0475 0.0143111800025738"
+      xyz="0 -0.095 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_infra2_optical_frame">
+    name="camera_right_ir_optical_frame">
     <inertial>
       <origin
         xyz="1.7211389306826E-08 1.52265896497699E-07 -0.00158020638644197"
@@ -405,20 +405,20 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_infra2_optical_frame"
+    name="camera_right_ir_optical_frame"
     type="fixed">
     <origin
       xyz="0 0 0"
       rpy="-1.57079632679486 0 -1.5707963267949" />
     <parent
-      link="camera_infra2_frame" />
+      link="camera_right_ir_frame" />
     <child
-      link="camera_infra2_optical_frame" />
+      link="camera_right_ir_optical_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
   <link
-    name="camera_IMU_frame">
+    name="camera_imu_frame">
     <inertial>
       <origin
         xyz="-0.000485747949726976 -9.01982197890061E-07 -5.03896938954429E-07"
@@ -458,15 +458,15 @@ Stephen Brawner (brawner@gmail.com)
     </collision>
   </link>
   <joint
-    name="camera_IMU_frame"
+    name="camera_imu_frame"
     type="fixed">
     <origin
-      xyz="-0.00253500000000046 0.036187989999999 0.0136240800025733"
+      xyz="-0.01425 -0.011312 -0.0006871"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
-      link="camera_IMU_frame" />
+      link="camera_imu_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -514,10 +514,10 @@ Stephen Brawner (brawner@gmail.com)
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.0117149999999995 0.0475 0.0143111800025738"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
diff --git a/orbbec_description/urdf/gemini_335_336.urdf.xacro b/orbbec_description/urdf/gemini_335_336.urdf.xacro
index 92cd0d8b..b509f966 100644
--- a/orbbec_description/urdf/gemini_335_336.urdf.xacro
+++ b/orbbec_description/urdf/gemini_335_336.urdf.xacro
@@ -15,7 +15,7 @@ Stephen Brawner (brawner@gmail.com)
                 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>
@@ -57,7 +57,7 @@ Stephen Brawner (brawner@gmail.com)
     </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" />
@@ -90,8 +90,8 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="camera_left_ir_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_depth_frame" />
         <child link="camera_left_ir_frame" />
         <axis xyz="0 0 0" />
     </joint>
@@ -122,8 +122,8 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="camera_left_ir_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_left_ir_frame" />
         <child link="camera_left_ir_optical_frame" />
         <axis xyz="0 0 0" />
     </joint>
@@ -155,8 +155,8 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="camera_right_ir_joint" type="fixed">
-        <origin xyz="0.01587 0.025 0.0125" rpy="0 0 0" />
-        <parent link="camera_bottom_screw_frame" />
+        <origin xyz="0 -0.05 0" rpy="0 0 0" />
+        <parent link="camera_depth_frame" />
         <child link="camera_right_ir_frame" />
         <axis xyz="0 0 0" />
     </joint>
@@ -187,8 +187,8 @@ Stephen Brawner (brawner@gmail.com)
     </link>
 
     <joint name="camera_right_ir_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_right_ir_frame" />
         <child link="camera_right_ir_optical_frame" />
         <axis xyz="0 0 0" />
     </joint>
@@ -220,8 +220,8 @@ Stephen Brawner (brawner@gmail.com)
     </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 (brawner@gmail.com)
     </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 (brawner@gmail.com)
     </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 (brawner@gmail.com)
     </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>
diff --git a/orbbec_description/urdf/test_astra2.urdf.xacro b/orbbec_description/urdf/test_astra2.urdf.xacro
index 7f9e64ae..4113df2d 100644
--- a/orbbec_description/urdf/test_astra2.urdf.xacro
+++ b/orbbec_description/urdf/test_astra2.urdf.xacro
@@ -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="0.012323996052145958 0.03750000149011612 0.028150320053100586" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini2.urdf.xacro b/orbbec_description/urdf/test_gemini2.urdf.xacro
index 06a9ff2c..3e23075c 100644
--- a/orbbec_description/urdf/test_gemini2.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini2.urdf.xacro
@@ -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="0.01491 0.025 0.0125" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini2L.urdf.xacro b/orbbec_description/urdf/test_gemini2L.urdf.xacro
index b8a63109..ec7195a4 100644
--- a/orbbec_description/urdf/test_gemini2L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini2L.urdf.xacro
@@ -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="0.01033 0.05 0.0145" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini335L.urdf.xacro b/orbbec_description/urdf/test_gemini335L.urdf.xacro
index a13b4f6e..4556cad0 100644
--- a/orbbec_description/urdf/test_gemini335L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini335L.urdf.xacro
@@ -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="0.011715 0.0475 0.014311" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini335Le.urdf.xacro b/orbbec_description/urdf/test_gemini335Le.urdf.xacro
index 15e4e3e5..72d902c9 100644
--- a/orbbec_description/urdf/test_gemini335Le.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini335Le.urdf.xacro
@@ -10,7 +10,7 @@
   <!-- 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_botton_screw_frame"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <child link="camera_link"/>
+    <origin xyz="0.034005 0.0475 0.014048" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini335Lg.urdf.xacro b/orbbec_description/urdf/test_gemini335Lg.urdf.xacro
index eadc9e0e..7e391f58 100644
--- a/orbbec_description/urdf/test_gemini335Lg.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini335Lg.urdf.xacro
@@ -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="0.0117149999999995 0.0475 0.0143111800025738" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini336L.urdf.xacro b/orbbec_description/urdf/test_gemini336L.urdf.xacro
index 9a60faf0..aada3158 100644
--- a/orbbec_description/urdf/test_gemini336L.urdf.xacro
+++ b/orbbec_description/urdf/test_gemini336L.urdf.xacro
@@ -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="0.011715 0.0475 0.014311" rpy="0 0 0"/>
   </joint>
 </robot>
diff --git a/orbbec_description/urdf/test_gemini_335.urdf.xarco b/orbbec_description/urdf/test_gemini_335.urdf.xarco
index f38701f7..d25cb98b 100644
--- a/orbbec_description/urdf/test_gemini_335.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini_335.urdf.xarco
@@ -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>
diff --git a/orbbec_description/urdf/test_gemini_336.urdf.xarco b/orbbec_description/urdf/test_gemini_336.urdf.xarco
index 6192bd4a..2252e07b 100644
--- a/orbbec_description/urdf/test_gemini_336.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini_336.urdf.xarco
@@ -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>