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RST-13476 rename variable in 335Le URDF #6

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Merged
merged 1 commit into from
Jul 29, 2025
Merged

RST-13476 rename variable in 335Le URDF #6

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92 changes: 46 additions & 46 deletions orbbec_description/urdf/gemini335Le_macro.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -4,22 +4,22 @@

<xacro:macro name="gemini_335Le" params="
parent
prefix:='camera'
name:='camera'
*origin
sim_gazebo:=false
gz_fps:='5'
gz_image_width:='848'
gz_image_height:='530'">

<!-- The original link started with camera_link -->
<joint name="${prefix}_gemini_mount_fixed_joint" type="fixed">
<joint name="${name}_gemini_mount_fixed_joint" type="fixed">
<parent link="${parent}" />
<child link="${prefix}_link" />
<child link="${name}_link" />
<xacro:insert_block name="origin"/>
</joint>

<link
name="${prefix}_link">
name="${name}_link">
<inertial>
<origin
xyz="0.01235 -0.0020872 0.013243"
Expand Down Expand Up @@ -54,147 +54,147 @@
</collision>
</link>

<link name="${prefix}_bottom_screw_frame" />
<link name="${name}_bottom_screw_frame" />
<joint
name="${prefix}_bottom_screw_frame_joint"
name="${name}_bottom_screw_frame_joint"
type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="${prefix}_link" />
link="${name}_link" />
<child
link="${prefix}_bottom_screw_frame" />
link="${name}_bottom_screw_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_infra2_frame" />
<link name="${name}_infra2_frame" />
<joint
name="${prefix}_infra2_frame_joint"
name="${name}_infra2_frame_joint"
type="fixed">
<origin
xyz="0.034005 -0.0475 0.014048"
rpy="0 0 0" />
<parent
link="${prefix}_link" />
link="${name}_link" />
<child
link="${prefix}_infra2_frame" />
link="${name}_infra2_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_infra2_optical_frame" />
<link name="${name}_infra2_optical_frame" />
<joint
name="${prefix}_infra2_optical_frame_joint"
name="${name}_infra2_optical_frame_joint"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="${prefix}_infra2_frame" />
link="${name}_infra2_frame" />
<child
link="${prefix}_infra2_optical_frame" />
link="${name}_infra2_optical_frame" />
<axis
xyz="0 0 0" />
</joint>


<link name="${prefix}_infra1_frame" />
<link name="${name}_infra1_frame" />
<joint
name="${prefix}_infra1_frame_joint"
name="${name}_infra1_frame_joint"
type="fixed">
<origin
xyz="0.034005 0.0475 0.014048"
rpy="0 0 0" />
<parent
link="${prefix}_link" />
link="${name}_link" />
<child
link="${prefix}_infra1_frame" />
link="${name}_infra1_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_infra1_optical_frame" />
<link name="${name}_infra1_optical_frame" />
<joint
name="${prefix}_infra1_optical_frame_joint"
name="${name}_infra1_optical_frame_joint"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="${prefix}_infra1_frame" />
link="${name}_infra1_frame" />
<child
link="${prefix}_infra1_optical_frame" />
link="${name}_infra1_optical_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_depth_frame" />
<link name="${name}_depth_frame" />
<joint
name="${prefix}_depth_frame_joint"
name="${name}_depth_frame_joint"
type="fixed">
<parent
link="${prefix}_infra1_frame" />
link="${name}_infra1_frame" />
<child
link="${prefix}_depth_frame" />
link="${name}_depth_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_depth_optical_frame" />
<link name="${name}_depth_optical_frame" />
<joint
name="${prefix}_depth_optical_frame_joint"
name="${name}_depth_optical_frame_joint"
type="fixed">
<parent
link="${prefix}_infra1_optical_frame" />
link="${name}_infra1_optical_frame" />
<child
link="${prefix}_depth_optical_frame" />
link="${name}_depth_optical_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_color_frame" />
<link name="${name}_color_frame" />
<joint
name="${prefix}_frame_frame_joint"
name="${name}_frame_frame_joint"
type="fixed">
<origin
xyz="0.034014 0.02375 0.014048"
rpy="0 0 0" />
<parent
link="${prefix}_link" />
link="${name}_link" />
<child
link="${prefix}_color_frame" />
link="${name}_color_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_color_optical_frame" />
<link name="${name}_color_optical_frame" />
<joint
name="${prefix}_color_optical_frame_joint"
name="${name}_color_optical_frame_joint"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="${prefix}_color_frame" />
link="${name}_color_frame" />
<child
link="${prefix}_color_optical_frame" />
link="${name}_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>

<link name="${prefix}_imu_frame" />
<link name="${name}_imu_frame" />
<joint
name="${prefix}_imu_frame_joint"
name="${name}_imu_frame_joint"
type="fixed">
<origin
xyz="0.019757 0.03619 0.013358"
rpy="0 0 0" />
<parent
link="${prefix}_link" />
link="${name}_link" />
<child
link="${prefix}_imu_frame" />
link="${name}_imu_frame" />
<axis
xyz="0 0 0" />
</joint>
Expand All @@ -204,8 +204,8 @@
<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="${prefix}"
name="${name}"
gz_topic_name="${name}"
fps="${gz_fps}"
image_width="${gz_image_width}"
image_height="${gz_image_height}"
Expand Down