Orientation of camera_link frame

[sayali-purdue]

Can you please explain the orientation of camera_link frame? If we follow the ur5 robot description to obtain the orientation of ee_link and the commented static transform from ee_link to camera_link at line 19 in manipulator.launch, then camera_link has "x = Left, y = Forward, z = Down" orientation. However, as per the static transform from base_link to camera_link at line 22 in manipulator.launch, then camera_link has orientation "x = Down, y = Left, z = Forward". In both cases, base_link is assumed to be Forward-Left-Up as per the ROS convention.

Thank you!