rtab_launches/backpack_3d.urdf at main · shirakuvirya/rtab_launches · GitHub

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<!--
  Custom URDF for a single‑LiDAR backpack rig with accurate sensor offsets
  Base → IMU:     x=0.01496 m, y=0.00001 m, z=0.270 m
  Base → LiDAR:   x=0.06153 m, y=0.00040 m, z=1.65547 m
  Base → Camera:  x=2.11000 m, y=0.00000 m, z=-1.00000 m
-->
<robot name="cartographer_backpack_3d">
  <!-- ─────────── Materials (optional, for RViz) ─────────── -->
  <material name="orange"> <color rgba="1 0.5 0.2 1"/> </material>
  <material name="grey">   <color rgba="0.2 0.2 0.2 1"/> </material>
  <material name="blue">   <color rgba="0.2 0.2 1 1"/> </material>

  <!-- ─────────── Links ─────────── -->
  <link name="base_link"/>

  <link name="imu">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry> <box size="0.06 0.04 0.02"/> </geometry>
      <material name="orange"/>
    </visual>
  </link>

  <link name="velodyne">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry> <cylinder radius="0.05" length="0.07"/> </geometry>
      <material name="grey"/>
    </visual>
  </link>

  <link name="camera_link">
    <visual>
      <origin xyz="0 0 0"/>
      <geometry> <box size="0.1 0.04 0.04"/> </geometry>
      <material name="blue"/>
    </visual>
  </link>

  <link name="camera_color_optical_frame"/>

  <joint name="camera_optical_joint" type="fixed">
    <parent link="camera_link"/>
    <child  link="camera_color_optical_frame"/>
    <!-- Rotation to create an optical frame: +Z forward, +X right, +Y down -->
    <origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
  </joint>


  <!-- ─────────── Joints / Fixed transforms ─────────── -->
  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child  link="imu"/>
    <origin xyz="0.01496 0.00001 0.270" rpy="0 0 0"/>
  </joint>

  <joint name="lidar_joint" type="fixed">
    <parent link="base_link"/>
    <child  link="velodyne"/>
    <origin xyz="0.06153 0.00040 1.65547" rpy="0 0 0"/>
  </joint>

  <joint name="camera_joint" type="fixed">
    <parent link="base_link"/>
    <child  link="camera_link"/>
    <origin xyz="2.04 0.15 0.225" rpy="0 -0.2007 0"/>
  </joint>
</robot>