doubt about Astra S location in URDF

We seem to be experiencing some offset of Astra S xtion_rgb_frame compared to real hardware

seems to be 2 cm on each axis

In particular, should xtion_orbbec_aux_joint_frame and link be set to (0,0,0)?

tiago_robot/tiago_description/urdf/sensors/orbbec_astra.urdf.xacro

Lines 80 to 89 in 24c6aba

    
               <!-- frame of camera origin provided by Orbbec, need this intermediate frame for backwards compatibility with xtion_pro_live 
        
                    to reuse same camera origin --> 
        
               <joint name="${name}_orbbec_aux_joint" type="fixed"> 
        
                 <!-- Assuming we have 0.0908 0.08 0.0 from default camera_position, and rotated -90 deg on x.--> 
        
                 <!-- Pending confirmation from Orbbec about the position of the frames, going with old defaults--> 
        
                 <!-- <origin xyz="0.0107 0.008 0.015" rpy="0 0 0" />--> 
        
                 <origin xyz="0 0 0" rpy="0 0 0" /> 
        
                 <parent link="${name}_link" /> 
        
                 <child link="${name}_orbbec_aux_joint_frame"/> 
        
               </joint>

Should data extracted from tf2 tree for TIAGo Astra S camera, in particular xtion_rgb_optical_frame, under which both depth and rgb data is published, reflect reality?

	<!-- frame of camera origin provided by Orbbec, need this intermediate frame for backwards compatibility with xtion_pro_live
	to reuse same camera origin -->
	<joint name="${name}_orbbec_aux_joint" type="fixed">
	<!-- Assuming we have 0.0908 0.08 0.0 from default camera_position, and rotated -90 deg on x.-->
	<!-- Pending confirmation from Orbbec about the position of the frames, going with old defaults-->
	<!-- <origin xyz="0.0107 0.008 0.015" rpy="0 0 0" />-->
	<origin xyz="0 0 0" rpy="0 0 0" />
	<parent link="${name}_link" />
	<child link="${name}_orbbec_aux_joint_frame"/>
	</joint>