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fix: add camera joints and links in URDF for Gemini 305, 309 models

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This commit is contained in:
ob-yalian
2026-06-06 15:01:15 +08:00
parent a4937ef1c8
commit a16ae81784
3 changed files with 211 additions and 256 deletions
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orbbec_description/urdf/gemini305.urdf.xacro
+56 -41
View File
@@ -5,24 +5,52 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
<link
name="base_link">
<inertial>
<origin
xyz="0.000195549528928161 -5.34216701628021E-05 -0.0203898633722788"
rpy="0 0 0" />
<mass
value="0.0195706749601595" />
<inertia
ixx="3.90938897723015E-06"
ixy="-1.54949883302207E-09"
ixz="2.45880849146858E-08"
iyy="6.7877667129966E-06"
iyz="-9.63634999610215E-09"
izz="3.76189543642479E-06" />
</inertial>
</link>
name="camera_link" />
<joint
name="camera_link"
type="fixed">
<origin
xyz="0.008126703388352 0.008999999999889 0.0210000000000001"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_R">
name="camera_left_color_optical_frame" />
<joint
name="camera_left_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_left_color_frame" />
<child
link="camera_left_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_right_color_optical_frame" />
<joint
name="camera_right_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_right_color_frame" />
<child
link="camera_right_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_right_color_frame">
<inertial>
<origin
xyz="0.00919554952881716 -0.00818012505851481 0.000610136627721268"
@@ -62,20 +90,20 @@
</collision>
</link>
<joint
name="RGB_R"
name="camera_right_color_frame"
type="fixed">
<origin
xyz="0.008126703388352 -0.009000000000111 0.0210000000000001"
xyz="0 -0.018 0"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_left_color_frame" />
<child
link="RGB_R" />
link="camera_right_color_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_L">
name="camera_left_color_frame">
<inertial>
<origin
xyz="-0.00880445047118283 -0.00818012505851481 0.000610136627721265"
@@ -115,15 +143,15 @@
</collision>
</link>
<joint
name="RGB_L"
name="camera_left_color_frame"
type="fixed">
<origin
xyz="0.008126703388352 0.008999999999889 0.0210000000000001"
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_link" />
<child
link="RGB_L" />
link="camera_left_color_frame" />
<axis
xyz="0 0 0" />
</joint>
@@ -174,7 +202,7 @@
xyz="-0.01091969797964 -0.0100031936844311 0.0209990315919259"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_bottom_screw" />
<child
link="camera_rear_screw_R" />
<axis
@@ -227,7 +255,7 @@
xyz="-0.01091969797964 0.00999680631556896 0.0209990315919259"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_bottom_screw" />
<child
link="camera_rear_screw_L" />
<axis
@@ -273,17 +301,4 @@
</geometry>
</collision>
</link>
<joint
name="camera_bottom_screw"
type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="camera_bottom_screw" />
<axis
xyz="0 0 0" />
</joint>
</robot>
orbbec_description/urdf/gemini305_g.urdf.xacro
+77 -92
View File
@@ -5,22 +5,50 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
<link
name="base_link">
<inertial>
<origin
xyz="0.000149164489798296 -0.00906695064573543 -0.0207909592259398"
rpy="0 0 0" />
<mass
value="0.033546716795485" />
<inertia
ixx="6.61619826485559E-06"
ixy="-3.93814864956883E-09"
ixz="3.50980830227358E-08"
iyy="1.15876789717806E-05"
iyz="1.05717082804933E-08"
izz="6.08547247005231E-06" />
</inertial>
</link>
name="camera_link" />
<joint
name="camera_link"
type="fixed">
<origin
xyz="0.008050000000001 0.00900395097915 0.0209939609855011"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_left_color_optical_frame" />
<joint
name="camera_left_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_left_color_frame" />
<child
link="camera_left_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_right_color_optical_frame" />
<joint
name="camera_right_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_right_color_frame" />
<child
link="camera_right_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_bottom_screw">
<inertial>
@@ -60,22 +88,32 @@
filename="${mesh_path}base_link.STL" />
</geometry>
</collision>
<visual>
<origin
xyz="-0.033409999999996 0 0.020993960985498"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="-0.033409999999996 0 0.020993960985498"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_bottom_screw"
type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="camera_bottom_screw" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_R">
name="camera_right_color_frame">
<inertial>
<origin
xyz="-1.1760228169691E-06 -0.0034693462830589 0.000376234001467315"
@@ -115,20 +153,20 @@
</collision>
</link>
<joint
name="RGB_R"
name="camera_right_color_frame"
type="fixed">
<origin
xyz="0.008050000000001 -0.00899604902085 0.0209939609855011"
xyz="0 -0.018 0"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_left_color_frame" />
<child
link="RGB_R" />
link="camera_right_color_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_L">
name="camera_left_color_frame">
<inertial>
<origin
xyz="-1.17602281778789E-06 -0.00346934628305837 0.000376234001468578"
@@ -168,68 +206,15 @@
</collision>
</link>
<joint
name="RGB_L"
name="camera_left_color_frame"
type="fixed">
<origin
xyz="0.008050000000001 0.00900395097915 0.0209939609855011"
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
link="camera_link" />
<child
link="RGB_L" />
<axis
xyz="0 0 0" />
</joint>
<link
name="FAKRA">
<inertial>
<origin
xyz="-2.19014445062421E-07 0.0027197100224461 -0.00011127645937509"
rpy="0 0 0" />
<mass
value="0.000751156783355389" />
<inertia
ixx="1.51891738860674E-08"
ixy="4.67248857458133E-13"
ixz="-3.5218905561991E-13"
iyy="1.40267326812145E-08"
iyz="-2.75286777175686E-10"
izz="1.86427254797844E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
</collision>
</link>
<joint
name="FAKRA"
type="fixed">
<origin
xyz="-0.033409999999996 0 0.020993960985498"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="FAKRA" />
link="camera_left_color_frame" />
<axis
xyz="0 0 0" />
</joint>
orbbec_description/urdf/gemini309_g.urdf.xacro
+78 -123
View File
@@ -4,6 +4,51 @@
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini309_g">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini309_g/" />
<link
name="camera_link" />
<joint
name="camera_link"
type="fixed">
<origin
xyz="0.008050000000002 0.009003950979152 0.0209939609855101"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_link" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_left_color_optical_frame" />
<joint
name="camera_left_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_left_color_frame" />
<child
link="camera_left_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_right_color_optical_frame" />
<joint
name="camera_right_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5707963267949 0 -1.5707963267949" />
<parent
link="camera_right_color_frame" />
<child
link="camera_right_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_bottom_screw">
<inertial>
@@ -20,9 +65,32 @@
iyz="-2.67333736513775E-09"
izz="4.83457340761002E-06" />
</inertial>
<visual>
<origin
xyz="-0.0234099999999966 0 0.0209939609855071"
rpy="3.141592653589793 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="-0.0234099999999966 0 0.0209939609855071"
rpy="3.141592653589793 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
</collision>
</link>
<link
name="RGB_R">
name="camera_right_color_frame">
<inertial>
<origin
xyz="-1.17602281696563E-06 -0.0034693462830589 0.000376234001467319"
@@ -62,20 +130,20 @@
</collision>
</link>
<joint
name="RGB_R"
name="camera_right_color_frame"
type="fixed">
<origin
xyz="0.008050000000002 -0.008996049020848 0.0209939609855101"
xyz="0 -0.018 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
link="camera_left_color_frame" />
<child
link="RGB_R" />
link="camera_right_color_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_L">
name="camera_left_color_frame">
<inertial>
<origin
xyz="-1.17602281780871E-06 -0.00346934628305838 0.000376234001468585"
@@ -115,128 +183,15 @@
</collision>
</link>
<joint
name="RGB_L"
name="camera_left_color_frame"
type="fixed">
<origin
xyz="0.008050000000002 0.009003950979152 0.0209939609855101"
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
link="camera_link" />
<child
link="RGB_L" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_rear_screw_R">
<inertial>
<origin
xyz="0.00694483634502586 -0.0004039608053246 -0.000467753233225888"
rpy="0 0 0" />
<mass
value="0.00885761204737661" />
<inertia
ixx="1.66869077460572E-06"
ixy="-2.55469491377294E-10"
ixz="7.69688751694532E-09"
iyy="3.1776766369675E-06"
iyz="-1.12550987680034E-09"
izz="1.63868643158484E-06" />
</inertial>
</link>
<joint
name="camera_rear_screw_R"
type="fixed">
<origin
xyz="-0.0137999999999964 -0.00679999999999149 0.0209900000000397"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_rear_screw_R" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_rear_screw_L">
<inertial>
<origin
xyz="-0.00665516365497414 -0.0004039608053246 -0.000467753233225888"
rpy="0 0 0" />
<mass
value="0.00885761204737661" />
<inertia
ixx="1.66869077460572E-06"
ixy="-2.55469491377279E-10"
ixz="7.69688751694532E-09"
iyy="3.1776766369675E-06"
iyz="-1.12550987680032E-09"
izz="1.63868643158484E-06" />
</inertial>
</link>
<joint
name="camera_rear_screw_L"
type="fixed">
<origin
xyz="-0.0137999999999964 0.00680000000000851 0.0209900000000397"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_rear_screw_L" />
<axis
xyz="0 0 0" />
</joint>
<link
name="FAKRA">
<inertial>
<origin
xyz="0.000120342070480443 0.0189302142307225 0.000357727554186116"
rpy="0 0 0" />
<mass
value="0.0224266176030287" />
<inertia
ixx="4.90510990927456E-06"
ixy="-7.63213244507503E-10"
ixz="2.00360111638076E-08"
iyy="8.70411044641884E-06"
iyz="-2.68767067434135E-09"
izz="4.73094837296026E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="3.141592653589793 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
</collision>
</link>
<joint
name="FAKRA"
type="fixed">
<origin
xyz="-0.0234099999999966 0 0.0209939609855071"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="FAKRA" />
link="camera_left_color_frame" />
<axis
xyz="0 0 0" />
</joint>