Sensor Measurements for URDF (ROS 2)

In Integration with a robot, instructions are provided for how to easily integrate one or more Zed cameras into a URDF. From reading the documentation, I am not seeing steps for actually obtaining the xyz and rpy measurements for a camera. I’m assuming the xyz translation from a defined base_link is manually measured; but how are the rpy values obtained?

Hi @dcrobotics
Welcome to the Stereolabs community.

This is part of the robot calibration procedure. Normally this type of information is extracted from the 3D model of the robot