OrbbecSDK_ROS2/orbbec_description/urdf/astra_2.urdf.xacro

<?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="astra_2">
    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/astra2/" />
  <link
    name="camera_link">
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      <origin
        xyz="-0.0160938085585399 -0.00100885505248632 0.0279919581775268"
        rpy="0 0 0" />
      <mass
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      <inertia
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        ixy="-8.18066547859061E-09"
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        iyy="7.7096717121366E-07"
        iyz="1.08838945581987E-08"
        izz="1.61801971464778E-05" />
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    <visual>
      <origin
        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}base_link.STL" />
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        name="">
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          rgba="0.827450980392157 0.698039215686274 0.490196078431373 1" />
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        <mesh
          filename="${mesh_path}base_link.STL" />
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  </link>
  <link
    name="camera_bottom_screw_frame">
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      <origin
        xyz="-0.00635589512085941 1.59480886486103E-08 0.0118534361269284"
        rpy="0 0 0" />
      <mass
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        ixx="3.65092579901689E-06"
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        iyy="2.03966087595316E-06"
        iyz="6.18841137398479E-13"
        izz="3.65126403038314E-06" />
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    <visual>
      <origin
        xyz="0 0 0"
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        <mesh
          filename="${mesh_path}camera_bottom_screw_frame.STL" />
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      <material
        name="">
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      <origin
        xyz="0 0 0"
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        <mesh
          filename="${mesh_path}camera_bottom_screw_frame.STL" />
      </geometry>
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    name="camera_bottom_screw_joint"
    type="fixed">
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      xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
      rpy="0 0 0" />
    <parent
      link="camera_link" />
    <child
      link="camera_bottom_screw_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_ir_frame">
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      <origin
        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742363E-07"
        rpy="0 0 0" />
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        iyz="1.28152628023355E-12"
        izz="8.07148645937271E-09" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_frame.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_frame.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_ir_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="camera_depth_frame" />
    <child
      link="camera_ir_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_ir_optical_frame">
    <inertial>
      <origin
        xyz="-5.33451517362171E-07 -6.0879600974216E-07 -0.00168460453866946"
        rpy="0 0 0" />
      <mass
        value="0.000608348661221202" />
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        ixz="-8.0578755644897E-13"
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        iyz="-9.13275008052949E-13"
        izz="6.79778952271057E-09" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_optical_frame.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_optical_frame.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_ir_optical_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 -1.5707963267949" />
    <parent
      link="camera_ir_frame" />
    <child
      link="camera_ir_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_color_frame">
    <inertial>
      <origin
        xyz="-0.0010912488631539 -4.73353451897057E-07 7.19396296308746E-07"
        rpy="0 0 0" />
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        iyy="2.2724816811302E-10"
        iyz="-4.27828382910552E-14"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_colorl_frame.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_colorl_frame.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_color_joint"
    type="fixed">
    <origin
      xyz="0.0025420000310987234 -0.01850000023841858 0"
      rpy="0 0 0" />
    <parent
      link="camera_depth_frame" />
    <child
      link="camera_color_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_color_optical_frame">
    <inertial>
      <origin
        xyz="4.73353451897057E-07 -7.19396296308746E-07 -0.0010912488631539"
        rpy="0 0 0" />
      <mass
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      <inertia
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        iyy="2.2743913744705E-10"
        iyz="1.32613402096386E-13"
        izz="3.55949372682833E-10" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_color_optical_frame.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_color_optical_frame.STL" />
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    </collision>
  </link>
  <joint
    name="camera_color_optical_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 -1.5707963267949" />
    <parent
      link="camera_color_frame" />
    <child
      link="camera_color_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_depth_frame">
    <inertial>
      <origin
        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742395E-07"
        rpy="0 0 0" />
      <mass
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        iyz="1.28152628023353E-12"
        izz="8.07148645937271E-09" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_depth_frame.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    <collision>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="${mesh_path}camera_depth_frame.STL" />
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    </collision>
  </link>
  <joint
    name="camera_depth_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="camera_link" />
    <child
      link="camera_depth_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_depth_optical_frame">
    <inertial>
      <origin
        xyz="-5.33451517362171E-07 -6.08796009742075E-07 -0.00168460453866946"
        rpy="0 0 0" />
      <mass
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      <inertia
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        ixz="-8.05787556448886E-13"
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        iyz="-9.13275008052966E-13"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_depth_optical_frame.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    <collision>
      <origin
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      <geometry>
        <mesh
          filename="${mesh_path}camera_depth_optical_frame.STL" />
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    </collision>
  </link>
  <joint
    name="camera_depth_optical_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 -1.5707963267949" />
    <parent
      link="camera_depth_frame" />
    <child
      link="camera_depth_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>