OrbbecSDK_ROS2/orbbec_description/urdf/gemini_335_Lg.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="gemini_335_Lg">
    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335Lg/" />

    <link
    name="camera_link">
    <inertial>
      <origin
        xyz="-0.00289247601040677 -0.0017677758607654 0.0142809419586764"
        rpy="0 0 0" />
      <mass
        value="0.0325749377048239" />
      <inertia
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        ixy="-6.50624838746019E-07"
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        iyy="4.19290333002548E-06"
        iyz="1.26504526469951E-07"
        izz="4.0397995330315E-05" />
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    <visual>
      <origin
        xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}base_link.STL" />
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      <material
        name="">
        <color
          rgba="0.749019607843137 0.576470588235294 0.631372549019608 1" />
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      <origin
        xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}base_link.STL" />
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    </collision>
  </link>
  <link
    name="camera_bottom_screw_frame">
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      <origin
        xyz="-0.000509549530802827 -0.000723575304053956 0.0135324058538218"
        rpy="0 0 0" />
      <mass
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        ixx="6.28717759812297E-06"
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        iyy="3.46547116520772E-07"
        iyz="9.65620190743408E-08"
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    <visual>
      <origin
        xyz="0 0 0"
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        <mesh
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      <material
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        <mesh
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    name="camera_bottom_screw_joint"
    type="fixed">
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      xyz="-0.0117149999999995 -0.0475 -0.0143111800025738"
      rpy="0 0 0" />
    <parent
      link="camera_link" />
    <child
      link="camera_bottom_screw_frame" />
    <axis
      xyz="0 0 0" />
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  <link
    name="camera_left_ir_frame">
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_frame.STL" />
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      <material
        name="">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_frame.STL" />
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  </link>
  <joint
    name="camera_left_ir_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="camera_depth_frame" />
    <child
      link="camera_left_ir_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_left_ir_optical_frame">
    <inertial>
      <origin
        xyz="1.72113892998871E-08 1.52265896555812E-07 -0.00158020638644197"
        rpy="0 0 0" />
      <mass
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        iyy="4.84043649602512E-09"
        iyz="1.46474854151393E-13"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
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      <material
        name="">
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    <collision>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="${mesh_path}camera_infra1_optical_frame.STL" />
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    </collision>
  </link>
  <joint
    name="camera_left_ir_optical_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
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    <parent
      link="camera_left_ir_frame" />
    <child
      link="camera_left_ir_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_color_frame">
    <inertial>
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        xyz="-0.00158020000774523 -2.01759723546246E-08 -1.59601568159221E-07"
        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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      <material
        name="">
        <color
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      <origin
        xyz="0 0 0"
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        <mesh
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  <joint
    name="camera_color_joint"
    type="fixed">
    <origin
      xyz="0 -0.023749999701976776 0"
      rpy="0 0 0" />
    <parent
      link="camera_depth_frame" />
    <child
      link="camera_color_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_color_optical_frame">
    <inertial>
      <origin
        xyz="2.01759723546246E-08 1.59601568105527E-07 -0.00158020000774523"
        rpy="0 0 0" />
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      <inertia
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        ixy="1.91083540162691E-14"
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        iyy="4.84042884844639E-09"
        iyz="1.54573397779039E-13"
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_color_optical_frame.STL" />
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      <material
        name="">
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    <collision>
      <origin
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        <mesh
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  </link>
  <joint
    name="camera_color_optical_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
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    <parent
      link="camera_color_frame" />
    <child
      link="camera_color_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_right_ir_frame">
    <inertial>
      <origin
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    <visual>
      <origin
        xyz="0 0 0"
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      <geometry>
        <mesh
          filename="${mesh_path}camera_infra2_frame.STL" />
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      <material
        name="">
        <color
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      <geometry>
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  </link>
  <joint
    name="camera_right_ir_joint"
    type="fixed">
    <origin
      xyz="0 -0.095 0"
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    <parent
      link="camera_depth_frame" />
    <child
      link="camera_right_ir_frame" />
    <axis
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  <link
    name="camera_right_ir_optical_frame">
    <inertial>
      <origin
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      <mass
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    <visual>
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      <material
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  </link>
  <joint
    name="camera_right_ir_optical_joint"
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  <link
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  <joint
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      link="camera_link" />
    <child
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    <axis
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</robot>