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Refactor URDF files for Gemini series cameras

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ob-yalian
2026-06-06 16:45:17 +08:00
parent d19a5115d4
commit 95549d5584
6 changed files with 51 additions and 3 deletions
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orbbec_description/urdf/gemini305.urdf.xacro → orbbec_description/urdf/gemini_305.urdf.xacro
+1 -1
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@@ -2,7 +2,7 @@
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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="gemini305">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_305">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
<link
name="camera_link" />
orbbec_description/urdf/gemini305_g.urdf.xacro → orbbec_description/urdf/gemini_305_g.urdf.xacro
+1 -1
View File
@@ -2,7 +2,7 @@
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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="gemini305_g">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_305_g">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
<link
name="camera_link" />
orbbec_description/urdf/gemini309_g.urdf.xacro → orbbec_description/urdf/gemini_309_g.urdf.xacro
+1 -1
View File
@@ -2,7 +2,7 @@
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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="gemini309_g">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_309_g">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini309_g/" />
<link
name="camera_link" />
orbbec_description/urdf/test_gemini_305.urdf.xacro
+16
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@@ -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 (brawner@gmail.com)
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_305" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini_305.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_bottom_screw" type="fixed">
<parent link="base_link"/>
<child link="camera_bottom_screw"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>
orbbec_description/urdf/test_gemini_305_g.urdf.xacro
+16
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@@ -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 (brawner@gmail.com)
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_305_g" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini_305_g.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_bottom_screw" type="fixed">
<parent link="base_link"/>
<child link="camera_bottom_screw"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>
orbbec_description/urdf/test_gemini_309_g.urdf.xacro
+16
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@@ -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 (brawner@gmail.com)
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_309_g" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini_309_g.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_bottom_screw" type="fixed">
<parent link="base_link"/>
<child link="camera_bottom_screw"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>