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Merged
merged 5 commits into from
Aug 7, 2025
Merged

Remove gz #8

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3702027
Remove Gz camera definitions
MarqRazz Aug 4, 2025
2c749c0
Add inertia and remove 'frame' from joint names
MarqRazz Aug 6, 2025
81e4fc2
frame_joint -> joint
MarqRazz Aug 7, 2025
b636517
update 335L_336L with inertia
MarqRazz Aug 7, 2025
f7e0773
revert Orbbec defined urdf
MarqRazz Aug 7, 2025
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2 changes: 0 additions & 2 deletions orbbec_description/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,6 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<exec_depend>realsense2_gz_description</exec_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

Expand Down
52 changes: 20 additions & 32 deletions orbbec_description/urdf/gemini335L_336L_macro.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,7 @@
<xacro:macro name="gemini_335L_336L" params="
parent
prefix:='camera'
*origin
sim_gazebo:=false
gz_fps:='5'
gz_image_width:='848'
gz_image_height:='530'">
*origin">

<!-- The original link started with camera_link -->
<joint name="${prefix}_gemini_mount_fixed_joint" type="fixed">
Expand Down Expand Up @@ -51,7 +47,7 @@

<link name="${prefix}_color_screw_frame" />
<joint
name="${prefix}_color_screw_frame_joint"
name="${prefix}_color_screw_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -66,7 +62,7 @@

<link name="${prefix}_IMU_frame" />
<joint
name="${prefix}_IMU_frame_joint"
name="${prefix}_IMU_joint"
type="fixed">
<origin
xyz="-0.002535 0.039634 0.013243"
Expand All @@ -81,7 +77,7 @@

<link name="${prefix}_depth_frame" />
<joint
name="${prefix}_depth_frame_joint"
name="${prefix}_depth_joint"
type="fixed">
<origin
xyz="0.011715 0.0475 0.014311"
Expand All @@ -96,7 +92,7 @@

<link name="${prefix}_depth_optical_frame" />
<joint
name="${prefix}_depth_optical_frame_joint"
name="${prefix}_depth_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -111,7 +107,7 @@

<link name="${prefix}_infra1_frame" />
<joint
name="${prefix}_infra1_frame_joint"
name="${prefix}_infra1_joint"
type="fixed">
<origin
xyz="0.011715 0.0475 0.014311"
Expand All @@ -126,7 +122,7 @@

<link name="${prefix}_infra1_optical_frame" />
<joint
name="${prefix}_infra1_optical_frame_joint"
name="${prefix}_infra1_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -141,7 +137,7 @@

<link name="${prefix}_infra2_frame" />
<joint
name="${prefix}_infra2_frame_joint"
name="${prefix}_infra2_joint"
type="fixed">
<origin
xyz="0.011715 -0.0475 0.014311"
Expand All @@ -156,7 +152,7 @@

<link name="${prefix}_infra2_optical_frame" />
<joint
name="${prefix}_infra2_optical_frame_joint"
name="${prefix}_infra2_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -169,9 +165,17 @@
xyz="0 0 0" />
</joint>

<link name="${prefix}_color_frame" />
<link name="${prefix}_color_frame" >
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.001" ixy="0" ixz="0"
iyx="0" iyy="0.001" iyz="0"
izx="0" izy="0" izz="0.001" />
</inertial>
</link>
<joint
name="${prefix}_color_frame_joint"
name="${prefix}_color_joint"
type="fixed">
<origin
xyz="0.011715 0.02375 0.014311"
Expand All @@ -186,7 +190,7 @@

<link name="${prefix}_color_optical_frame" />
<joint
name="${prefix}_color_optical_frame_joint"
name="${prefix}_color_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -199,21 +203,5 @@
xyz="0 0 0" />
</joint>

<xacro:if value="${sim_gazebo}">
<!-- Use the realsense2_gz_description which can simulate a generic depth camera -->
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
<!-- TODO: Upstream changes required for a triggered RBGD camera -->
<xacro:gazebo_rgbd
name="${prefix}"
gz_topic_name="${prefix}"
fps="${gz_fps}"
image_width="${gz_image_width}"
image_height="${gz_image_height}"
h_fov="${94 * pi/180}"
v_fov="${68 * pi/180}"
min_depth="0.17"
max_depth="6.0" />
</xacro:if>

</xacro:macro>
</robot>
52 changes: 20 additions & 32 deletions orbbec_description/urdf/gemini335Le_macro.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,7 @@
<xacro:macro name="gemini_335Le" params="
parent
name:='camera'
*origin
sim_gazebo:=false
gz_fps:='5'
gz_image_width:='848'
gz_image_height:='530'">
*origin">

<!-- The original link started with camera_link -->
<joint name="${name}_gemini_mount_fixed_joint" type="fixed">
Expand Down Expand Up @@ -56,7 +52,7 @@

<link name="${name}_bottom_screw_frame" />
<joint
name="${name}_bottom_screw_frame_joint"
name="${name}_bottom_screw_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -71,7 +67,7 @@

<link name="${name}_infra2_frame" />
<joint
name="${name}_infra2_frame_joint"
name="${name}_infra2_joint"
type="fixed">
<origin
xyz="0.034005 -0.0475 0.014048"
Expand All @@ -86,7 +82,7 @@

<link name="${name}_infra2_optical_frame" />
<joint
name="${name}_infra2_optical_frame_joint"
name="${name}_infra2_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -102,7 +98,7 @@

<link name="${name}_infra1_frame" />
<joint
name="${name}_infra1_frame_joint"
name="${name}_infra1_joint"
type="fixed">
<origin
xyz="0.034005 0.0475 0.014048"
Expand All @@ -117,7 +113,7 @@

<link name="${name}_infra1_optical_frame" />
<joint
name="${name}_infra1_optical_frame_joint"
name="${name}_infra1_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -132,7 +128,7 @@

<link name="${name}_depth_frame" />
<joint
name="${name}_depth_frame_joint"
name="${name}_depth_joint"
type="fixed">
<parent
link="${name}_infra1_frame" />
Expand All @@ -144,7 +140,7 @@

<link name="${name}_depth_optical_frame" />
<joint
name="${name}_depth_optical_frame_joint"
name="${name}_depth_optical_joint"
type="fixed">
<parent
link="${name}_infra1_optical_frame" />
Expand All @@ -154,9 +150,17 @@
xyz="0 0 0" />
</joint>

<link name="${name}_color_frame" />
<link name="${name}_color_frame" >
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.001" ixy="0" ixz="0"
iyx="0" iyy="0.001" iyz="0"
izx="0" izy="0" izz="0.001" />
</inertial>
</link>
<joint
name="${name}_frame_frame_joint"
name="${name}_color_joint"
type="fixed">
<origin
xyz="0.034014 0.02375 0.014048"
Expand All @@ -171,7 +175,7 @@

<link name="${name}_color_optical_frame" />
<joint
name="${name}_color_optical_frame_joint"
name="${name}_color_optical_joint"
type="fixed">
<origin
xyz="0 0 0"
Expand All @@ -186,7 +190,7 @@

<link name="${name}_imu_frame" />
<joint
name="${name}_imu_frame_joint"
name="${name}_imu_joint"
type="fixed">
<origin
xyz="0.019757 0.03619 0.013358"
Expand All @@ -199,21 +203,5 @@
xyz="0 0 0" />
</joint>

<xacro:if value="${sim_gazebo}">
<!-- Use the realsense2_gz_description which can simulate a generic depth camera -->
<xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />
<!-- TODO: Upstream changes required for a triggered RBGD camera -->
<xacro:gazebo_rgbd
name="${name}"
gz_topic_name="${name}"
fps="${gz_fps}"
image_width="${gz_image_width}"
image_height="${gz_image_height}"
h_fov="${94 * pi/180}"
v_fov="${68 * pi/180}"
min_depth="0.25"
max_depth="6.0" />
</xacro:if>

</xacro:macro>
</robot>