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enhance URDF models for various Orbbec cameras

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ob-yalian
2025-11-03 19:55:25 +08:00
parent 87a3ffd05f
commit 9338a53fda
12 changed files with 14 additions and 5 deletions
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orbbec_description/urdf/astra2.urdf.xarco → orbbec_description/urdf/astra2.urdf.xacro
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orbbec_description/urdf/gemini2.urdf.xarco → orbbec_description/urdf/gemini2.urdf.xacro
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orbbec_description/urdf/gemini2L.urdf.xarco → orbbec_description/urdf/gemini2L.urdf.xacro
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orbbec_description/urdf/gemini335L_336L.urdf.xarco → orbbec_description/urdf/gemini335L_336L.urdf.xacro
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orbbec_description/urdf/test_astra2.urdf.xarco → orbbec_description/urdf/test_astra2.urdf.xacro
+1 -1
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@@ -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="astra2" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="astra2.urdf.xarco"/>
<xacro:include filename="astra2.urdf.xacro"/>
<!-- Define a virtual root link -->
<link name="base_link"/>
orbbec_description/urdf/test_femto_bolt.urdf.xacro
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@@ -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.xarco → orbbec_description/urdf/test_gemini2.urdf.xacro
+1 -1
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@@ -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="gemini2" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini2.urdf.xarco"/>
<xacro:include filename="gemini2.urdf.xacro"/>
<!-- Define a virtual root link -->
<link name="base_link"/>
orbbec_description/urdf/test_gemini2L.urdf.xarco → orbbec_description/urdf/test_gemini2L.urdf.xacro
+1 -1
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@@ -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="gemini2L" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini2L.urdf.xarco"/>
<xacro:include filename="gemini2L.urdf.xacro"/>
<!-- Define a virtual root link -->
<link name="base_link"/>
orbbec_description/urdf/test_gemini335L.urdf.xarco → orbbec_description/urdf/test_gemini335L.urdf.xacro
+1 -1
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@@ -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="gemini335L" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini335L_336L.urdf.xarco"/>
<xacro:include filename="gemini335L_336L.urdf.xacro"/>
<!-- Define a virtual root link -->
<link name="base_link"/>
orbbec_description/urdf/test_gemini335Le.urdf.xarco → orbbec_description/urdf/test_gemini335Le.urdf.xacro
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orbbec_description/urdf/test_gemini335Lg.urdf.xarco → orbbec_description/urdf/test_gemini335Lg.urdf.xacro
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orbbec_description/urdf/test_gemini336L.urdf.xarco → orbbec_description/urdf/test_gemini336L.urdf.xacro
+1 -1
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@@ -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="gemini336L" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini335L_336L.urdf.xarco"/>
<xacro:include filename="gemini335L_336L.urdf.xacro"/>
<!-- Define a virtual root link -->
<link name="base_link"/>