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feat: add virtual root link and joint connection in URDF for Gemini 345Lg

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ob-yalian
2026-05-07 16:41:44 +08:00
parent 73d4b65ff3
commit dda71a01ca
1 changed files with 9 additions and 0 deletions
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orbbec_description/urdf/test_gemini345Lg.urdf.xacro
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@@ -4,4 +4,13 @@
For more information, please see http://wiki.ros.org/sw_urdf_exporter --> For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="gemini345Lg" xmlns:xacro="http://ros.org/wiki/xacro"> <robot name="gemini345Lg" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini345Lg.urdf.xacro"/> <xacro:include filename="gemini345Lg.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_frame" type="fixed">
<parent link="base_link"/>
<child link="camera_bottom_screw_frame"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot> </robot>