# ROS 2 URDF does not contain wrist camera

**URL:** <https://forum.hello-robot.com/t/ros-2-urdf-does-not-contain-wrist-camera/1060>\
**Category:** Ask\
**Created:** [July 29, 2024, 5:38pm UTC](https://forum.hello-robot.com/t/ros-2-urdf-does-not-contain-wrist-camera/1060 "2024-07-29T17:38:42Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![arjung](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/arjung/32/410_2.png) [@arjung](https://forum.hello-robot.com/u/arjung)\
**Post date:** [July 29, 2024, 5:38pm UTC](https://forum.hello-robot.com/t/ros-2-urdf-does-not-contain-wrist-camera/1060/1 "2024-07-29T17:38:43Z")

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Hi! When I visualize the robot URDF in ROS 2 using rviz, I do not see a wrist camera. Is this expected?

I believe this may be affecting the fact that I have been unable to use ROS to transform points from the wrist camera frame to the base frame. `ros2 run tf2_ros tf2_echo camera_depth_frame base_link` works as expected for transforming points from the head camera to the base frame, but I have been unable to do so for the wrist camera.

Any ideas will be much appreciated! Thanks!

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**Author:** ![Mohamed\_Fazil](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mohamed_fazil/32/261_2.png) [@Mohamed\_Fazil](https://forum.hello-robot.com/u/Mohamed_Fazil)\
**Post date:** [August 8, 2024, 5:02pm UTC](https://forum.hello-robot.com/t/ros-2-urdf-does-not-contain-wrist-camera/1060/2 "2024-08-08T17:02:53Z")

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Hi @arjung, Could you verify if your URDF is updated to the latest using the Stretch URDF package? You could do this by executing the following command.

```auto
pip3 install -U hello-robot-stretch-urdf
stretch_urdf_ros_update.py
stretch_urdf_ros_update.py --ros2_rebuild

```

Also the wrist camera links have the name space `gripper_camera_*` whereas the head camera has the namespace `camera_*`.

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<div class="post-metadata">

**Author:** ![arjung](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/arjung/32/410_2.png) [@arjung](https://forum.hello-robot.com/u/arjung)\
**Post date:** [August 14, 2024, 3:35am UTC](https://forum.hello-robot.com/t/ros-2-urdf-does-not-contain-wrist-camera/1060/3 "2024-08-14T03:35:57Z")

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Hi @Mohamed_Fazil, my URDF was not up to date. Thanks a bunch for your help!