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feat(gemini2): add OrbbecSDK_ROS2/

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X-lanni
2025-07-04 15:30:11 +08:00
parent 5cf886315d
commit 1e82e0115a
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OrbbecSDK_ROS2/orbbec_description/urdf/_gemini_335_336.urdf.xacro
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<?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_336">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335_336/" />
<link name="camera_link">
<inertial>
<origin xyz="0.00277269933215555 -1.06084680351007E-05 0.012801025085723" rpy="0 0 0" />
<mass value="0.0186143499064346" />
<inertia ixx="1.38922229644605E-05" ixy="-4.74617876641156E-09"
ixz="1.99175628166615E-08"
iyy="1.70686808598814E-06" iyz="-7.18717290327325E-09" izz="1.31766831843134E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_link.STL" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_link.STL" />
</geometry>
</collision>
</link>
<link name="camera_bottom_screw_frame">
<inertial>
<origin xyz="0.00255168206289301 -0.00123934714960528 0.0118889875786098" rpy="0 0 0" />
<mass value="0.00564476880678651" />
<inertia ixx="3.07690693820862E-06" ixy="-1.85045956307764E-08"
ixz="-9.2792327175816E-09"
iyy="2.27632852811487E-07" iyz="1.65233162864392E-08" izz="2.93985735090777E-06" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_bottom_screw_frame.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_bottom_screw_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_bottom_screw_frame_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_bottom_screw_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra_1_frame">
<inertial>
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.4860800305164E-07"
rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517007001E-13"
ixz="-1.45486421873185E-13"
iyy="4.84012226840139E-09" iyz="1.92888940614786E-14" izz="4.84044260907388E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra_1_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra_1_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra_1_optical_frame">
<inertial>
<origin xyz="1.52683853338331E-08 1.48608003051636E-07 -0.00158020887627678" rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.84012226840139E-09" ixy="1.92888940614797E-14"
ixz="3.69655517006993E-13"
iyy="4.84044260907388E-09" iyz="1.45486421873192E-13" izz="4.34108781911687E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra_1_optical_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra_1_optical_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra2_frame">
<inertial>
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.48608003050581E-07"
rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517007898E-13"
ixz="-1.45486421873762E-13"
iyy="4.84012226840139E-09" iyz="1.92888940594506E-14" izz="4.84044260907389E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra2_joint" type="fixed">
<origin xyz="0.01587 0.025 0.0125" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra2_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra2_optical_frame">
<inertial>
<origin xyz="1.52683853268942E-08 1.4860800305058E-07 -0.00158020887627678" rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.84012226840139E-09" ixy="1.92888940594538E-14"
ixz="3.69655517007897E-13"
iyy="4.84044260907389E-09" iyz="1.45486421873764E-13" izz="4.34108781911687E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra2_optical_joint" type="fixed">
<origin xyz="0.01587 0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra2_optical_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_color_frame">
<inertial>
<origin xyz="-0.00177079701156752 -2.20101367029782E-07 2.09893364599916E-07"
rpy="0 0 0" />
<mass value="0.000139779365329478" />
<inertia ixx="6.69130695410276E-10" ixy="-1.53742421247628E-13"
ixz="-2.28137695085953E-14"
iyy="6.11277085561398E-10" iyz="4.18921196289284E-14" izz="6.11078036871936E-10" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_color_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_color_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_color_joint" type="fixed">
<origin xyz="0.017533 0.010995 0.012505" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_color_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_color_optical_frame">
<inertial>
<origin xyz="2.20101367029782E-07 -2.09893364599916E-07 -0.00177079701156752"
rpy="0 0 0" />
<mass value="0.000139779365329478" />
<inertia ixx="6.11277085561398E-10" ixy="4.18921196289284E-14"
ixz="1.53742421247628E-13"
iyy="6.11078036871936E-10" iyz="2.28137695085953E-14" izz="6.69130695410276E-10" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_color_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_color_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_color_optical_joint" type="fixed">
<origin xyz="0.017533 0.010995 0.012505" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_color_optical_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_depth_frame">
<inertial>
<origin xyz="-0.00158020887627678 -1.52683853338331E-08 -1.48608003051662E-07"
rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517006982E-13"
ixz="-1.45486421873185E-13"
iyy="4.84012226840139E-09" iyz="1.92888940614707E-14" izz="4.84044260907388E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_depth_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_depth_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_depth_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_depth_optical_frame">
<inertial>
<origin xyz="1.52683853338331E-08 1.4860800305165E-07 -0.00158020887627678" rpy="0 0 0" />
<mass value="0.000453168790516429" />
<inertia ixx="4.84012226840139E-09" ixy="1.9288894061467E-14" ixz="3.69655517006976E-13"
iyy="4.84044260907388E-09" iyz="1.454864218732E-13" izz="4.34108781911687E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_depth_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_depth_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_depth_optical_frame" />
<axis xyz="0 0 0" />
</joint>
</robot>
OrbbecSDK_ROS2/orbbec_description/urdf/femto_bolt.urdf.xacro
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<?xml version="1.0"?>
<robot name="femto_bolt" xmlns:xacro="http://wiki.ros.org/xacro">
<!--
This is the URDF model for the Orbbec Femto Bolt camera
-->
<!-- Include files -->
<!-- Properties -->
<xacro:property name="M_PI" value="3.1415926535897931" />
<!-- Dimensions from the provided specifications -->
<xacro:property name="cam_width" value="0.1153"/>
<xacro:property name="cam_height" value="0.06495"/>
<xacro:property name="cam_depth" value="0.04026"/>
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/femto_bolt/" />
<!-- The following values are approximate but the camera node
publishes TF values with actual calibrated camera extrinsic values -->
<xacro:property name="base_link_to_link_x" value="0.03645"/>
<xacro:property name="base_link_to_link_y" value="0.00198"/>
<xacro:property name="base_link_to_link_z" value="0.021"/>
<xacro:property name="depth_to_ir_offset" value="0.0"/>
<xacro:property name="camera_link_to_depth_rotation_roll" value="-0.0063718"/>
<xacro:property name="camera_link_to_depth_rotation_pitch" value="0.1061316"/>
<xacro:property name="camera_link_to_depth_rotation_yaw" value="0.000231"/>
<xacro:property name="depth_to_color_offset_x" value="-0.0021445322036743163"/>
<xacro:property name="depth_to_color_offset_y" value="-0.03267627716064453"/>
<xacro:property name="depth_to_color_offset_z" value="-0.0010942233800888062"/>
<xacro:property name="depth_to_color_rotation_roll" value="0.006371800289866152"/>
<xacro:property name="depth_to_color_rotation_pitch" value="-0.10613163835054795"/>
<xacro:property name="depth_to_color_rotation_yaw" value="-0.00023102465978322808"/>
<xacro:macro name="femto_bolt" params="prefix parent *origin use_nominal_extrinsics:=true">
<!-- camera with origin at bottom screw mount -->
<joint name="${prefix}_base_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${prefix}_base_link" />
</joint>
<link name="${prefix}_base_link" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}femto_bolt.stl" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="${mesh_path}femto_bolt.stl" />
</geometry>
</collision>
<inertial>
<!-- The following are not reliable values, and should not be used for modeling -->
<mass value="0.2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
<!-- Camera Link -->
<joint name="${prefix}_link_joint" type="fixed">
<origin xyz="${base_link_to_link_x} ${base_link_to_link_y} ${base_link_to_link_z}" rpy="0 0 0"/>
<parent link="${prefix}_base_link"/>
<child link="${prefix}_link"/>
</joint>
<link name="${prefix}_link" />
<!-- Use the nominal extrinsics between camera frames if the calibrated extrinsics aren't being published. e.g. running the device in simulation -->
<xacro:if value="${use_nominal_extrinsics}">
<!-- Depth Camera Frame -->
<joint name="${prefix}_depth_joint" type="fixed">
<origin xyz="0 0 0" rpy="${camera_link_to_depth_rotation_roll} ${camera_link_to_depth_rotation_pitch} ${camera_link_to_depth_rotation_yaw}"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_depth_frame" />
</joint>
<link name="${prefix}_depth_frame"/>
<joint name="${prefix}_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${prefix}_depth_frame" />
<child link="${prefix}_depth_optical_frame" />
</joint>
<link name="${prefix}_depth_optical_frame"/>
<!-- IR Camera Frame -->
<joint name="${prefix}_ir_joint" type="fixed">
<origin xyz="0 ${depth_to_ir_offset} 0" rpy="0 0 0" />
<parent link="${prefix}_depth_frame" />
<child link="${prefix}_ir_frame" />
</joint>
<link name="${prefix}_ir_frame"/>
<joint name="${prefix}_ir_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${prefix}_ir_frame"/>
<child link="${prefix}_ir_optical_frame"/>
</joint>
<link name="${prefix}_ir_optical_frame"/>
<!-- Color Camera Frame -->
<joint name="${prefix}_color_joint" type="fixed">
<origin xyz="${depth_to_color_offset_x} ${depth_to_color_offset_y} ${depth_to_color_offset_z}"
rpy="${depth_to_color_rotation_roll} ${depth_to_color_rotation_pitch} ${depth_to_color_rotation_yaw}" />
<parent link="${prefix}_depth_frame"/>
<child link="${prefix}_color_frame"/>
</joint>
<link name="${prefix}_color_frame"/>
<joint name="${prefix}_color_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="${prefix}_color_frame"/>
<child link="${prefix}_color_optical_frame"/>
</joint>
<link name="${prefix}_color_optical_frame"/>
</xacro:if>
</xacro:macro>
</robot>
OrbbecSDK_ROS2/orbbec_description/urdf/test_gemini_335.urdf.xarco
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<?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 name="gemini_335" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="_gemini_335_336.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_link" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>
OrbbecSDK_ROS2/orbbec_description/urdf/test_gemini_336.urdf.xarco
+16
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<?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 name="gemini_336" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="_gemini_335_336.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_link" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>