mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 11:10:19 +08:00
Merge branch 'feat/305_urdf' into merge/sdk_2.8.8
This commit is contained in:
ob-yalian
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@@ -0,0 +1,304 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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</robot>
|
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@@ -0,0 +1,221 @@
|
||||
<?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 xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g">
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|
||||
<parent
|
||||
link="camera_left_color_frame" />
|
||||
<child
|
||||
link="camera_right_color_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_left_color_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.17602281778789E-06 -0.00346934628305837 0.000376234001468578"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000735468334566977" />
|
||||
<inertia
|
||||
ixx="7.92202562203234E-09"
|
||||
ixy="-1.95146773316258E-12"
|
||||
ixz="-9.33532489896877E-12"
|
||||
iyy="9.9317599983348E-09"
|
||||
iyz="-6.12381825718017E-12"
|
||||
izz="8.0275161952487E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_left_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_link" />
|
||||
<child
|
||||
link="camera_left_color_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,198 @@
|
||||
<?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 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>
|
||||
<origin
|
||||
xyz="0.000175737970584729 -0.00394983412061421 -0.0206345858068119"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0249222072968717" />
|
||||
<inertia
|
||||
ixx="5.00403811957311E-06"
|
||||
ixy="-7.2306914084516E-10"
|
||||
ixz="2.22927661310567E-08"
|
||||
iyy="8.89433351709202E-06"
|
||||
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="camera_right_color_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.17602281696563E-06 -0.0034693462830589 0.000376234001467319"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000735468334566907" />
|
||||
<inertia
|
||||
ixx="7.92202560415908E-09"
|
||||
ixy="-1.95146774676002E-12"
|
||||
ixz="-9.33532490494195E-12"
|
||||
iyy="9.93176003014812E-09"
|
||||
iyz="-6.12381828511392E-12"
|
||||
izz="8.02751620920214E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_R.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_R.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_right_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.018 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_left_color_frame" />
|
||||
<child
|
||||
link="camera_right_color_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_left_color_frame">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.17602281780871E-06 -0.00346934628305838 0.000376234001468585"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000735468334566978" />
|
||||
<inertia
|
||||
ixx="7.92202562203234E-09"
|
||||
ixy="-1.95146773316204E-12"
|
||||
ixz="-9.33532489896924E-12"
|
||||
iyy="9.93175999833481E-09"
|
||||
iyz="-6.12381825718048E-12"
|
||||
izz="8.0275161952487E-09" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="3.141592653589793 0 1.570796326794897" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_left_color_frame"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_link" />
|
||||
<child
|
||||
link="camera_left_color_frame" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user