From a54bf74caaca5f9035af1cfe5793a0e429e5e17f Mon Sep 17 00:00:00 2001
From: Benjamin Thiemann <benjamin.thiemann@optonic.com>
Date: Tue, 17 Jun 2025 11:54:59 +0200
Subject: [PATCH 1/3] ensenso_description: Add support for Cx-L

---
 ensenso_description/ensenso.xacro            | 26 ++++++++++++++++++
 ensenso_description/ensenso_CxL_Series.xacro | 29 ++++++++++++++++++++
 ensenso_description/stl_meshes/Cx-L.stl      |  3 ++
 3 files changed, 58 insertions(+)
 create mode 100644 ensenso_description/ensenso_CxL_Series.xacro
 create mode 100644 ensenso_description/stl_meshes/Cx-L.stl

diff --git a/ensenso_description/ensenso.xacro b/ensenso_description/ensenso.xacro
index 1a0a6a2..5548ce3 100644
--- a/ensenso_description/ensenso.xacro
+++ b/ensenso_description/ensenso.xacro
@@ -246,4 +246,30 @@
     <link name="${name}_left_lens_frame"/>
   </xacro:macro>
 
+  <xacro:macro name="ensenso_CxL_Series" params="name margin:=0.03">
+    <link name="${name}">
+      <visual>
+        <origin rpy="0 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://ensenso_description/stl_meshes/Cx-L.stl"/>
+        </geometry>
+        <material name="Ensenso/DarkGrey"/>
+      </visual>
+      <collision>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 ${0.10/2}"/>
+        <geometry>
+          <box size="${margin+0.910} ${margin+0.06} ${margin+0.10+0.02}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Left lens -->
+    <joint name="${name}_left_lens_joint" type="fixed">
+      <parent link="${name}"/>
+      <child link="${name}_left_lens_frame"/>
+      <origin xyz="${-0.850/2} 0 0.032" rpy="0 0 0"/>
+    </joint>
+    <link name="${name}_left_lens_frame"/>
+  </xacro:macro>
+
 </robot>
diff --git a/ensenso_description/ensenso_CxL_Series.xacro b/ensenso_description/ensenso_CxL_Series.xacro
new file mode 100644
index 0000000..7c841f6
--- /dev/null
+++ b/ensenso_description/ensenso_CxL_Series.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="ensenso_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find ensenso_description)/ensenso.xacro" />
+
+  <!-- Parameters -->
+  <!-- Name of the camera -->
+  <xacro:arg name="camera" default="C57L" />
+  <xacro:property name="camera_name" value="$(arg camera)" />
+
+  <!-- Enlarges the bounding box in all directions -->
+  <xacro:arg name="margin" default="0.03" />
+  <xacro:property name="margin" value="$(arg margin)" />
+
+  <!-- tf frame that references to the cameras mounting frame -->
+  <xacro:arg name="corresponding_frame_name" default="base_link" />
+  <xacro:property name="corresponding_frame_name" value="$(arg corresponding_frame_name)" />
+
+  <xacro:ensenso_CxL_Series name="${camera_name}" margin="${margin}"/>
+  <joint name="${corresponding_frame_name}_to_${camera_name}" type="fixed">
+    <parent link="${corresponding_frame_name}" />
+    <child link="${camera_name}" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+
+  <link name="${corresponding_frame_name}" />
+</robot>
+<!-- Example usage with:
+roslaunch urdf_tutorial display.launch model:=`rospack find ensenso_description`/ensenso_CxL_Series.xacro gui:=true
+-->
diff --git a/ensenso_description/stl_meshes/Cx-L.stl b/ensenso_description/stl_meshes/Cx-L.stl
new file mode 100644
index 0000000..bcc0d8d
--- /dev/null
+++ b/ensenso_description/stl_meshes/Cx-L.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:815374804961d02a3a5ca2adf8d45ebfb07a7a5e2801073cb1efa7e33a8044dd
+size 500084

From 862bb0b00724d91997b767bb49f82c33fc865c8d Mon Sep 17 00:00:00 2001
From: Benjamin Thiemann <benjamin.thiemann@optonic.com>
Date: Tue, 17 Jun 2025 11:56:19 +0200
Subject: [PATCH 2/3] ensenso_description: Add support for B-Series

---
 ensenso_description/ensenso.xacro           | 26 ++++++++++++++++++
 ensenso_description/ensenso_Bx_Series.xacro | 29 +++++++++++++++++++++
 ensenso_description/stl_meshes/Bx.stl       |  3 +++
 3 files changed, 58 insertions(+)
 create mode 100644 ensenso_description/ensenso_Bx_Series.xacro
 create mode 100644 ensenso_description/stl_meshes/Bx.stl

diff --git a/ensenso_description/ensenso.xacro b/ensenso_description/ensenso.xacro
index 5548ce3..b1fc8ff 100644
--- a/ensenso_description/ensenso.xacro
+++ b/ensenso_description/ensenso.xacro
@@ -272,4 +272,30 @@
     <link name="${name}_left_lens_frame"/>
   </xacro:macro>
 
+  <xacro:macro name="ensenso_Bx_Series" params="name margin:=0.03">
+    <link name="${name}">
+      <visual>
+        <origin rpy="0 0 ${pi}" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://ensenso_description/stl_meshes/Bx.stl"/>
+        </geometry>
+        <material name="Ensenso/DarkGrey"/>
+      </visual>
+      <collision>
+        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 ${(0.104+0.01)/2}"/>
+        <geometry>
+          <box size="${margin+0.120} ${margin+0.056} ${margin+0.104+0.02}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- Left lens -->
+    <joint name="${name}_left_lens_joint" type="fixed">
+      <parent link="${name}"/>
+      <child link="${name}_left_lens_frame"/>
+      <origin xyz="${-0.075/2} 0 0.090" rpy="0 0 0"/>
+    </joint>
+    <link name="${name}_left_lens_frame"/>
+  </xacro:macro>
+
 </robot>
diff --git a/ensenso_description/ensenso_Bx_Series.xacro b/ensenso_description/ensenso_Bx_Series.xacro
new file mode 100644
index 0000000..e15ec4b
--- /dev/null
+++ b/ensenso_description/ensenso_Bx_Series.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="ensenso_camera" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="$(find ensenso_description)/ensenso.xacro" />
+
+  <!-- Parameters -->
+  <!-- Name of the camera -->
+  <xacro:arg name="camera" default="B57" />
+  <xacro:property name="camera_name" value="$(arg camera)" />
+
+  <!-- Enlarges the bounding box in all directions -->
+  <xacro:arg name="margin" default="0.03" />
+  <xacro:property name="margin" value="$(arg margin)" />
+
+  <!-- tf frame that references to the cameras mounting frame -->
+  <xacro:arg name="corresponding_frame_name" default="base_link" />
+  <xacro:property name="corresponding_frame_name" value="$(arg corresponding_frame_name)" />
+
+  <xacro:ensenso_Bx_Series name="${camera_name}" margin="${margin}"/>
+  <joint name="${corresponding_frame_name}_to_${camera_name}" type="fixed">
+    <parent link="${corresponding_frame_name}" />
+    <child link="${camera_name}" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+
+  <link name="${corresponding_frame_name}" />
+</robot>
+<!-- Example usage with:
+roslaunch urdf_tutorial display.launch model:=`rospack find ensenso_description`/ensenso_Bx_Series.xacro gui:=true
+-->
diff --git a/ensenso_description/stl_meshes/Bx.stl b/ensenso_description/stl_meshes/Bx.stl
new file mode 100644
index 0000000..bb71d31
--- /dev/null
+++ b/ensenso_description/stl_meshes/Bx.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f51a7b2f70b3fdc9c2cf8365cc762c81ec1652beda167a3a81c22ef3ddd02d
+size 300034

From 7b1f7a7d6c1ad1d40552bc850424a396386ff64d Mon Sep 17 00:00:00 2001
From: Benjamin Thiemann <benjamin.thiemann@optonic.com>
Date: Tue, 17 Jun 2025 12:06:32 +0200
Subject: [PATCH 3/3] Add version requirement for B-Series to readme

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 044a992..456bbf7 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,7 @@ further information.
 
 ## Remarks
  * For using this package, you need to have the [Ensenso SDK](https://www.ensenso.com/support/sdk-download) installed.
+ * Ensenso B-Series cameras require at least version 2.1.3
  * Ensenso C-Series cameras require at least version 2.1.1
  * Ensenso S- and XR-Series cameras require at least version 1.7.0.
  * Version 1.7.0 and newer requires at least Ensenso SDK 3.0.