The kinematics tree has changed from 2.2 to 3.1. In particular, the lidar is now an offspring from left_camera, making the camera-lidar calibration values directly visible which is really nice. However the joint left_camera_optical_joint connecting left_camera_optical_frame and motor has its default value zero. I understand the ros::tf will publish the correct value in the runtime. But it would be nice to put the cad model value there, which supposed to me about (-0.0446,-0.035, 0.088). Because we use this model for our off-robot simulator which don't have access to runtime ros::tf.