Merge pull request #1 from o3de/spham_amzn/robot_vacuum_sample

Initial Population of Robot Vacuum Sample from original repo

Signed-off-by: Steve Pham <[email protected]>

.gitignore

@@ -20,4 +20,3 @@ server*.cfg
 _savebackup/
 *.swatches
 /imgui.ini
-

Assets/Importer/Examples/turtlebot4/irobot_create_description/LICENSE

@@ -0,0 +1,10 @@
+Copyright 2021 iRobot Corporation.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Assets/Importer/Examples/turtlebot4/turtlebot4.urdf

@@ -0,0 +1,1657 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from turtlebot4.urdf.xacro          | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="turtlebot4">
+  <!-- Create 3 base definition-->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.039200000000000006"/>
+      <geometry>
+        <mesh filename="package://irobot_create_description/meshes/body_visual.dae"/>
+      </geometry>
+    </visual>
+    <collision name="create3_base_collision">
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.04920000000000001"/>
+      <geometry>
+        <cylinder length="0.06" radius="0.16399999999999998"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.0 0 0.0742"/>
+      <mass value="2.3"/>
+      <inertia ixx="0.016155199999999998" ixy="0.0" ixz="0.0" iyy="0.016155199999999998" iyz="0.0" izz="0.03093039999999999"/>
+    </inertial>
+  </link>
+  <joint name="bump_front_center_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="bump_front_center"/>
+    <origin xyz="0 0 0.039200000000000006"/>
+  </joint>
+  <link name="bump_front_center">
+    <visual>
+      <geometry>
+        <mesh filename="package://irobot_create_description/meshes/bumper_visual.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://irobot_create_description/meshes/bumper_collision.dae"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.08 0 0.02"/>
+      <mass value="0.1"/>
+      <inertia ixx="0.0013483753405" ixy="0.0000000454352" ixz="0.0000014434849" iyy="0.0002521736852" iyz="-0.0000000006721" izz="0.0015442525386"/>
+    </inertial>
+  </link>
+  <gazebo reference="bump_front_center">
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <maxVel>0.01</maxVel>
+    <minDepth>0.001</minDepth>
+    <maxContacts>10</maxContacts>
+    <material>Gazebo/DarkGrey</material>
+    <sensor name="bump_front_center_contact_sensor" type="contact">
+      <always_on>true</always_on>
+      <update_rate>62.0</update_rate>
+      <contact>
+        <collision>bump_front_center_collision</collision>
+      </contact>
+      <plugin filename="libgazebo_ros_create_bumper.so" name="bump_front_center_plugin">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/bumper/event</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="bump_front_center_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <joint name="bump_front_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="bump_front_left"/>
+    <origin rpy="0 0 0.5235985" xyz="0.02345 -0.0875 0.025"/>
+  </joint>
+  <link name="bump_front_left"/>
+  <joint name="bump_front_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="bump_front_right"/>
+    <origin rpy="0 0 -0.5235985" xyz="0.02345 0.0875 0.025"/>
+  </joint>
+  <link name="bump_front_right"/>
+  <joint name="bump_left_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="bump_left"/>
+    <origin rpy="0 0 1.047193" xyz="0.0875 -0.15155 0.025"/>
+  </joint>
+  <link name="bump_left"/>
+  <joint name="bump_right_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="bump_right"/>
+    <origin rpy="0 0 -1.047193" xyz="0.0875 0.15155 0.025"/>
+  </joint>
+  <link name="bump_right"/>
+  <joint name="wheel_drop_left_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="wheel_drop_left"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0.1165 0.04020000000000001"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="0" upper="0.03" velocity="0"/>
+    <!-- Damping is big enough to not make the body oscillate too much when it's lifted up -->
+    <dynamics damping="50" friction="0.1"/>
+  </joint>
+  <!-- Gazebo parameters to simulate a spring -->
+  <gazebo reference="wheel_drop_left_joint">
+    <provideFeedback>false</provideFeedback>
+    <implicitSpringDamper>true</implicitSpringDamper>
+    <!-- This value should be high enough so that the wheeldrop can
+          retract with the robot's weight (mass * gravity) -->
+    <springStiffness>400</springStiffness>
+    <springReference>0.03</springReference>
+  </gazebo>
+  <link name="wheel_drop_left">
+    <inertial>
+      <mass value="0.05"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="2.0833333333333336e-05" ixy="0.0" ixz="0.0" iyy="2.0833333333333336e-05" iyz="0.0" izz="2.0833333333333336e-05"/>
+    </inertial>
+  </link>
+  <gazebo>
+    <plugin filename="libgazebo_ros_create_wheel_drop.so" name="wheel_drop_left_plugin">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>~/out:=_internal/wheel_drop/left_wheel/event</remapping>
+      </ros>
+      <update_rate>62</update_rate>
+      <detection_threshold>0.03</detection_threshold>
+      <joint_name>wheel_drop_left_joint</joint_name>
+      <frame_id>wheel_drop_left</frame_id>
+    </plugin>
+  </gazebo>
+  <joint name="left_wheel_joint" type="continuous">
+    <parent link="wheel_drop_left"/>
+    <child link="left_wheel"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="left_wheel">
+    <visual>
+      <geometry>
+        <cylinder length="0.015" radius="0.035750000000000004"/>
+      </geometry>
+      <!-- Give black color to wheels in Rviz -->
+      <material name="black">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.015" radius="0.035750000000000004"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.2"/>
+      <inertia ixx="6.765312500000001e-05" ixy="0.0" ixz="0.0" iyy="6.765312500000001e-05" iyz="0.0" izz="0.00012780625000000003"/>
+    </inertial>
+  </link>
+  <gazebo reference="left_wheel">
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <minDepth>0.0001</minDepth>
+    <maxVel>1.0</maxVel>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <ros2_control name="left_wheel_controller" type="system">
+    <hardware>
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+    </hardware>
+    <joint name="left_wheel_joint">
+      <state_interface name="velocity"/>
+      <state_interface name="position"/>
+      <command_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+  <joint name="wheel_drop_right_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="wheel_drop_right"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 -0.1165 0.04020000000000001"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="0" upper="0.03" velocity="0"/>
+    <!-- Damping is big enough to not make the body oscillate too much when it's lifted up -->
+    <dynamics damping="50" friction="0.1"/>
+  </joint>
+  <!-- Gazebo parameters to simulate a spring -->
+  <gazebo reference="wheel_drop_right_joint">
+    <provideFeedback>false</provideFeedback>
+    <implicitSpringDamper>true</implicitSpringDamper>
+    <!-- This value should be high enough so that the wheeldrop can
+          retract with the robot's weight (mass * gravity) -->
+    <springStiffness>400</springStiffness>
+    <springReference>0.03</springReference>
+  </gazebo>
+  <link name="wheel_drop_right">
+    <inertial>
+      <mass value="0.05"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="2.0833333333333336e-05" ixy="0.0" ixz="0.0" iyy="2.0833333333333336e-05" iyz="0.0" izz="2.0833333333333336e-05"/>
+    </inertial>
+  </link>
+  <gazebo>
+    <plugin filename="libgazebo_ros_create_wheel_drop.so" name="wheel_drop_right_plugin">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>~/out:=_internal/wheel_drop/right_wheel/event</remapping>
+      </ros>
+      <update_rate>62</update_rate>
+      <detection_threshold>0.03</detection_threshold>
+      <joint_name>wheel_drop_right_joint</joint_name>
+      <frame_id>wheel_drop_right</frame_id>
+    </plugin>
+  </gazebo>
+  <joint name="right_wheel_joint" type="continuous">
+    <parent link="wheel_drop_right"/>
+    <child link="right_wheel"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="right_wheel">
+    <visual>
+      <geometry>
+        <cylinder length="0.015" radius="0.035750000000000004"/>
+      </geometry>
+      <!-- Give black color to wheels in Rviz -->
+      <material name="black">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.015" radius="0.035750000000000004"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0"/>
+      <mass value="0.2"/>
+      <inertia ixx="6.765312500000001e-05" ixy="0.0" ixz="0.0" iyy="6.765312500000001e-05" iyz="0.0" izz="0.00012780625000000003"/>
+    </inertial>
+  </link>
+  <gazebo reference="right_wheel">
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <kp>1000000.0</kp>
+    <kd>100.0</kd>
+    <minDepth>0.0001</minDepth>
+    <maxVel>1.0</maxVel>
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <ros2_control name="right_wheel_controller" type="system">
+    <hardware>
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+    </hardware>
+    <joint name="right_wheel_joint">
+      <state_interface name="velocity"/>
+      <state_interface name="position"/>
+      <command_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+  <joint name="front_caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_caster_link"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.125 0 0.012200000000000003"/>
+  </joint>
+  <link name="front_caster_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+      <!-- Give black color to caster in Rviz -->
+      <material name="black">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.01"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01"/>
+      <inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_caster_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_caster_link">
+    <material>Gazebo/DarkGrey</material>
+    <mu1>0.1</mu1>
+    <mu2>0.1</mu2>
+    <kp>1000000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="0.050613 0.043673 0.0844"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <link name="imu_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="imu_link">
+    <sensor name="imu" type="imu">
+      <always_on>true</always_on>
+      <update_rate>62</update_rate>
+      <imu>
+        <angular_velocity>
+          <x>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </z>
+        </angular_velocity>
+        <linear_acceleration>
+          <x>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.0</mean>
+              <stddev>0.0</stddev>
+            </noise>
+          </z>
+        </linear_acceleration>
+      </imu>
+      <plugin filename="libgazebo_ros_create_imu.so" name="imu_plugin">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=imu</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="imu_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <parameters> /home/adam/turtlebot4_ws/install/irobot_create_control/share/irobot_create_control/config/control.yaml </parameters>
+    </plugin>
+  </gazebo>
+  <joint name="mouse_joint" type="fixed">
+    <origin rpy="0 0 -0.7853981633974483" xyz="0.1015 0.087 0.009200000000000007"/>
+    <parent link="base_link"/>
+    <child link="mouse"/>
+  </joint>
+  <link name="mouse">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo>
+    <plugin filename="libgazebo_ros_create_optical_mouse.so" name="mouse_plugin">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>~/out:=mouse</remapping>
+      </ros>
+      <update_rate>62</update_rate>
+      <link_name>mouse</link_name>
+    </plugin>
+  </gazebo>
+  <gazebo reference="mouse_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <joint name="cliff_side_left_joint" type="fixed">
+    <origin rpy="0 1.3962634015954636 2.921681167838508" xyz="0.06 0.145 0.01920000000000001"/>
+    <parent link="base_link"/>
+    <child link="cliff_side_left"/>
+  </joint>
+  <link name="cliff_side_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="cliff_side_left">
+    <sensor name="cliff_side_left" type="ray">
+      <update_rate>62</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1.0</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.04363323129985824</min_angle>
+            <max_angle>0.04363323129985824</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.0001</min>
+          <max>0.15</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_side_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/cliff_side_left/event</remapping>
+        </ros>
+        <detection_threshold>0.08</detection_threshold>
+        <frame_id>cliff_side_left</frame_id>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="cliff_side_right_joint" type="fixed">
+    <origin rpy="0 1.3962634015954636 -2.921681167838508" xyz="0.06 -0.145 0.01920000000000001"/>
+    <parent link="base_link"/>
+    <child link="cliff_side_right"/>
+  </joint>
+  <link name="cliff_side_right">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="cliff_side_right">
+    <sensor name="cliff_side_right" type="ray">
+      <update_rate>62</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1.0</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.04363323129985824</min_angle>
+            <max_angle>0.04363323129985824</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.0001</min>
+          <max>0.15</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_side_right">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/cliff_side_right/event</remapping>
+        </ros>
+        <detection_threshold>0.08</detection_threshold>
+        <frame_id>cliff_side_right</frame_id>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="cliff_front_left_joint" type="fixed">
+    <origin rpy="0 1.3962634015954636 1.1397000015522971" xyz="0.16 0.045 0.01920000000000001"/>
+    <parent link="base_link"/>
+    <child link="cliff_front_left"/>
+  </joint>
+  <link name="cliff_front_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="cliff_front_left">
+    <sensor name="cliff_front_left" type="ray">
+      <update_rate>62</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1.0</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.04363323129985824</min_angle>
+            <max_angle>0.04363323129985824</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.0001</min>
+          <max>0.15</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_front_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/cliff_front_left/event</remapping>
+        </ros>
+        <detection_threshold>0.08</detection_threshold>
+        <frame_id>cliff_front_left</frame_id>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="cliff_front_right_joint" type="fixed">
+    <origin rpy="0 1.3962634015954636 -1.1397000015522971" xyz="0.16 -0.045 0.01920000000000001"/>
+    <parent link="base_link"/>
+    <child link="cliff_front_right"/>
+  </joint>
+  <link name="cliff_front_right">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="cliff_front_right">
+    <sensor name="cliff_front_right" type="ray">
+      <update_rate>62</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1.0</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.04363323129985824</min_angle>
+            <max_angle>0.04363323129985824</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.0001</min>
+          <max>0.15</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_cliff_sensor.so" name="cliff_front_right">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/cliff_front_right/event</remapping>
+        </ros>
+        <detection_threshold>0.08</detection_threshold>
+        <frame_id>cliff_front_right</frame_id>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_front_center_left_joint" type="fixed">
+    <origin xyz="0.1540 0 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_front_center_left"/>
+  </joint>
+  <link name="ir_intensity_front_center_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_front_center_left_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_front_center_left">
+    <sensor name="ir_intensity_front_center_left" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_center_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_front_center_left</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_front_center_right_joint" type="fixed">
+    <origin rpy="0 0 -0.436" xyz="0.1396 -0.0651 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_front_center_right"/>
+  </joint>
+  <link name="ir_intensity_front_center_right">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_front_center_right_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_front_center_right">
+    <sensor name="ir_intensity_front_center_right" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_center_right">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_front_center_right</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_front_left_joint" type="fixed">
+    <origin rpy="0 0 0.436" xyz="0.1396 0.0651 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_front_left"/>
+  </joint>
+  <link name="ir_intensity_front_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_front_left_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_front_left">
+    <sensor name="ir_intensity_front_left" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_front_left</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_front_right_joint" type="fixed">
+    <origin rpy="0 0 -0.873" xyz="0.0990 -0.1180 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_front_right"/>
+  </joint>
+  <link name="ir_intensity_front_right">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_front_right_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_front_right">
+    <sensor name="ir_intensity_front_right" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_front_right">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_front_right</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_left_joint" type="fixed">
+    <origin rpy="0 0 0.873" xyz="0.0990 0.1180 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_left"/>
+  </joint>
+  <link name="ir_intensity_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_left_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_left">
+    <sensor name="ir_intensity_left" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_left</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_right_joint" type="fixed">
+    <origin rpy="0 0 -1.309" xyz="0.0399 -0.1488 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_right"/>
+  </joint>
+  <link name="ir_intensity_right">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_right_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_right">
+    <sensor name="ir_intensity_right" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_right">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_right</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="ir_intensity_side_left_joint" type="fixed">
+    <origin rpy="0 0 1.309" xyz="0.0399 0.1488 0.05720000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_intensity_side_left"/>
+  </joint>
+  <link name="ir_intensity_side_left">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo reference="ir_intensity_side_left_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="ir_intensity_side_left">
+    <sensor name="ir_intensity_side_left" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>False</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>5</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-0.08726646259971647</min_angle>
+            <max_angle>0.08726646259971647</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.025</min>
+          <max>0.2</max>
+          <resolution>1.0</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="libgazebo_ros_create_ir_intensity_sensor.so" name="ir_intensity_side_left">
+        <ros>
+          <namespace>/</namespace>
+          <remapping>~/out:=_internal/ir_intensity_side_left</remapping>
+        </ros>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="button_1_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="button_1"/>
+    <origin rpy="0 -1.5707963267948966 0" xyz="0.06 0.37 0.1442"/>
+  </joint>
+  <link name="button_1"/>
+  <joint name="button_2_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="button_2"/>
+    <origin rpy="0 -1.5707963267948966 0" xyz="0.06 -0.37 0.1442"/>
+  </joint>
+  <link name="button_2"/>
+  <joint name="button_power_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="button_power"/>
+    <origin rpy="0 -1.5707963267948966 0" xyz="0.06 0 0.1442"/>
+  </joint>
+  <link name="button_power"/>
+  <joint name="ir_omni_joint" type="fixed">
+    <origin xyz="0.153 0 0.09920000000000001"/>
+    <parent link="base_link"/>
+    <child link="ir_omni"/>
+  </joint>
+  <link name="ir_omni">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <gazebo>
+    <plugin filename="libgazebo_ros_create_ir_opcode.so" name="ir_omni_plugin">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>~/out:=ir_opcode</remapping>
+      </ros>
+      <update_rate>31</update_rate>
+      <robot_model_name>create3</robot_model_name>
+      <receiver_link_name>ir_omni</receiver_link_name>
+      <dock_model_name>standard_dock</dock_model_name>
+      <emitter_link_name>halo_link</emitter_link_name>
+      <sensor_0_fov>3.839724354387525</sensor_0_fov>
+      <sensor_0_range>0.01</sensor_0_range>
+      <sensor_1_fov>1.5707963267948966</sensor_1_fov>
+      <sensor_1_range>0.5</sensor_1_range>
+    </plugin>
+  </gazebo>
+  <gazebo reference="ir_omni_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <!-- Ground truth pose -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="gazebo_ros_p3d_robot">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>odom:=sim_ground_truth_pose</remapping>
+      </ros>
+      <body_name>base_link</body_name>
+      <frame_name>world</frame_name>
+      <update_rate>62</update_rate>
+      <xyz_offset>0 0 0</xyz_offset>
+      <rpy_offset>0.0 0.0 0.0</rpy_offset>
+      <gaussian_noise>0.0</gaussian_noise>
+    </plugin>
+  </gazebo>
+  <!-- Dock status -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_create_docking_status.so" name="dock_status_publisher">
+      <ros>
+        <namespace>/</namespace>
+        <remapping>~/out:=dock</remapping>
+      </ros>
+      <update_rate>1.0</update_rate>
+      <robot_model_name>create3</robot_model_name>
+      <receiver_link_name>ir_omni</receiver_link_name>
+      <dock_model_name>standard_dock</dock_model_name>
+      <emitter_link_name>halo_link</emitter_link_name>
+    </plugin>
+  </gazebo>
+  <joint name="shell_link_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="shell_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0942"/>
+  </joint>
+  <!-- Turtlebot4 shell definition -->
+  <link name="shell_link">
+    <visual>
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/shell.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision name="shell_collision">
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/shell_collision.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.39"/>
+      <inertia ixx="0.00281295367" ixy="-0.00000137675" ixz="-0.00005790057" iyy="0.00164666421" iyz="0.00000564466" izz="0.00424540124"/>
+    </inertial>
+  </link>
+  <gazebo reference="shell_link">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_left_bottom_weight_block_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_left_bottom_weight_block"/>
+    <origin xyz="0.06005267 0.08758841 0.09788546000000001"/>
+  </joint>
+  <link name="front_left_bottom_weight_block">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin xyz="0.1 0 0"/>
+      <mass value="0.061"/>
+      <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_left_bottom_weight_block_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_left_bottom_weight_block">
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_left_top_weight_block_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_left_top_weight_block"/>
+    <origin xyz="0.06005267 0.08758841 0.10688546"/>
+  </joint>
+  <link name="front_left_top_weight_block">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin xyz="0.1 0 0"/>
+      <mass value="0.061"/>
+      <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_left_top_weight_block_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_left_top_weight_block">
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_right_bottom_weight_block_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_right_bottom_weight_block"/>
+    <origin rpy="3.141592653589793 0 0" xyz="0.06005267 -0.08758841 0.09788546000000001"/>
+  </joint>
+  <link name="front_right_bottom_weight_block">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin xyz="0.1 0 0"/>
+      <mass value="0.061"/>
+      <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_right_bottom_weight_block_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_right_bottom_weight_block">
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_right_top_weight_block_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="front_right_top_weight_block"/>
+    <origin rpy="3.141592653589793 0 0" xyz="0.06005267 -0.08758841 0.10688546"/>
+  </joint>
+  <link name="front_right_top_weight_block">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/weight_block.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin xyz="0.1 0 0"/>
+      <mass value="0.061"/>
+      <inertia ixx="0.0000093482" ixy="-0.00000337434" ixz="0.0" iyy="0.00000436382" iyz="0.0" izz="0.00001288852"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_right_top_weight_block_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_right_top_weight_block">
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_left_tower_standoff_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="front_left_tower_standoff"/>
+    <origin xyz="0.03063 0.11431 0.14757"/>
+  </joint>
+  <link name="front_left_tower_standoff">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.205" radius="0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.26"/>
+      <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_left_tower_standoff_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_left_tower_standoff">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="front_right_tower_standoff_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="front_right_tower_standoff"/>
+    <origin xyz="0.03063 -0.11431 0.14757"/>
+  </joint>
+  <link name="front_right_tower_standoff">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.205" radius="0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.26"/>
+      <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_right_tower_standoff_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="front_right_tower_standoff">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="rear_left_tower_standoff_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="rear_left_tower_standoff"/>
+    <origin xyz="-0.07607 0.09066 0.14757"/>
+  </joint>
+  <link name="rear_left_tower_standoff">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.205" radius="0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.26"/>
+      <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
+    </inertial>
+  </link>
+  <gazebo reference="rear_left_tower_standoff_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="rear_left_tower_standoff">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="rear_right_tower_standoff_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="rear_right_tower_standoff"/>
+    <origin xyz="-0.07607 -0.09066 0.14757"/>
+  </joint>
+  <link name="rear_right_tower_standoff">
+    <visual>
+      <origin rpy="0 1.5707963267948966 0"/>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/tower_standoff.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0"/>
+      <geometry>
+        <cylinder length="0.205" radius="0.006"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.26"/>
+      <inertia ixx="0.00000019604" ixy="0.0" ixz="0.0" iyy="0.00005262313" iyz="0.0" izz="0.00005262313"/>
+    </inertial>
+  </link>
+  <gazebo reference="rear_right_tower_standoff_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="rear_right_tower_standoff">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <joint name="tower_sensor_plate_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="tower_sensor_plate"/>
+    <origin xyz="0 0 0.25257"/>
+  </joint>
+  <link name="tower_sensor_plate">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/tower_sensor_plate.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.001"/>
+      <geometry>
+        <cylinder length="0.003" radius="0.137"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.332"/>
+      <inertia ixx="0.00092982299" ixy="0.0" ixz="0.0" iyy="0.00083033498" iyz="0.0" izz="0.00175985947"/>
+    </inertial>
+  </link>
+  <gazebo reference="tower_sensor_plate_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="tower_sensor_plate">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <!-- Turtlebot4 sensor definitions -->
+  <joint name="rplidar_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="rplidar_link"/>
+    <origin rpy="0 0 1.5707963267948966" xyz="-0.04 0.0 0.098715"/>
+  </joint>
+  <link name="rplidar_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/rplidar.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.013000000000000001 -0.019"/>
+      <geometry>
+        <box size="0.071 0.1 0.06"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.17"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.0001926666666666667" ixy="0.0" ixz="0.0" iyy="0.00012241416666666666" iyz="0.0" izz="0.00021308083333333337"/>
+    </inertial>
+  </link>
+  <gazebo reference="rplidar_link">
+    <sensor name="rplidar" type="ray">
+      <update_rate>62.0</update_rate>
+      <visualize>1</visualize>
+      <always_on>true</always_on>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>640</samples>
+            <resolution>1.0</resolution>
+            <min_angle>-3.141592653589793</min_angle>
+            <max_angle>3.141592653589793</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>1</samples>
+            <resolution>1</resolution>
+            <min_angle>0</min_angle>
+            <max_angle>0</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.164</min>
+          <max>12.0</max>
+          <resolution>0.01</resolution>
+        </range>
+      </ray>
+      <!-- Noise is currently disabled -->
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.0</stddev>
+      </noise>
+      <plugin filename="dummyfile" name="dummy"/>
+    </sensor>
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <gazebo reference="rplidar_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <joint name="oakd_pro_camera_bracket_joint" type="fixed">
+    <parent link="shell_link"/>
+    <child link="oakd_pro_camera_bracket"/>
+    <origin xyz="-0.11800000000000001 0.0 0.05257"/>
+  </joint>
+  <link name="oakd_pro_camera_bracket">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/camera_bracket.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="0.033"/>
+      <inertia ixx="0.0000579181" ixy="0.0" ixz="0.0000090679" iyy="0.0000559785" iyz="0.0" izz="0.0000140955"/>
+    </inertial>
+  </link>
+  <gazebo reference="oakd_pro_camera_bracket_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_camera_bracket">
+    <visual>
+      <material>
+        <diffuse>0 0 0 1</diffuse>
+        <specular>0.3137254901960784 0.3137254901960784 0.3137254901960784 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <!-- Base frame -->
+  <joint name="oakd_pro_joint" type="fixed">
+    <parent link="oakd_pro_camera_bracket"/>
+    <child link="oakd_pro_link"/>
+    <origin xyz="0.0584 0.0 0.09676"/>
+  </joint>
+  <link name="oakd_pro_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://turtlebot4_description/meshes/oakd_pro.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="-0.011000000000000001 0.0 -0.005"/>
+      <geometry>
+        <box size="0.0225 0.09699999999999999 0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.061"/>
+      <inertia ixx="0.00000202475" ixy="0.0" ixz="0.0" iyy="0.00001527320" iyz="0.0" izz="0.00001605536"/>
+    </inertial>
+  </link>
+  <!-- RGB Camera -->
+  <link name="oakd_pro_rgb_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_rgb_camera_joint" type="fixed">
+    <parent link="oakd_pro_link"/>
+    <child link="oakd_pro_rgb_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <link name="oakd_pro_rgb_camera_optical_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_rgb_camera_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="oakd_pro_rgb_camera_frame"/>
+    <child link="oakd_pro_rgb_camera_optical_frame"/>
+  </joint>
+  <!-- Left Camera -->
+  <link name="oakd_pro_left_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_left_camera_joint" type="fixed">
+    <parent link="oakd_pro_link"/>
+    <child link="oakd_pro_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0375 0"/>
+  </joint>
+  <link name="oakd_pro_left_camera_optical_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="oakd_pro_left_camera_frame"/>
+    <child link="oakd_pro_left_camera_optical_frame"/>
+  </joint>
+  <!-- Right Camera -->
+  <link name="oakd_pro_right_camera_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_right_camera_joint" type="fixed">
+    <parent link="oakd_pro_link"/>
+    <child link="oakd_pro_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0375 0"/>
+  </joint>
+  <link name="oakd_pro_right_camera_optical_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="oakd_pro_right_camera_frame"/>
+    <child link="oakd_pro_right_camera_optical_frame"/>
+  </joint>
+  <!-- IMU -->
+  <link name="oakd_pro_imu_frame">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1.6666666666666668e-07" ixy="0.0" ixz="0.0" iyy="1.6666666666666668e-07" iyz="0.0" izz="1.6666666666666668e-07"/>
+    </inertial>
+  </link>
+  <joint name="oakd_pro_imu_joint" type="fixed">
+    <parent link="oakd_pro_link"/>
+    <child link="oakd_pro_imu_frame"/>
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+  </joint>
+  <!-- Gazebo links and joints -->
+  <gazebo reference="oakd_pro_rgb_camera_frame">
+    <sensor name="rgbd_camera" type="rgbd_camera">
+      <camera>
+        <horizontal_fov>1.25</horizontal_fov>
+        <image>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.3</near>
+          <far>100</far>
+        </clip>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>30</update_rate>
+      <visualize>true</visualize>
+    </sensor>
+    <visual>
+      <material>
+        <diffuse>0.011764705882352941 0.011764705882352941 0.011764705882352941 1</diffuse>
+        <specular>0 0 0 1</specular>
+        <emissive>0 0 0 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+  <gazebo reference="oakd_pro_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_rgb_camera_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_rgb_camera_optical_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_left_camera_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_left_camera_optical_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_right_camera_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_right_camera_optical_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+  <gazebo reference="oakd_pro_imu_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+  </gazebo>
+</robot>

Assets/Importer/Examples/turtlebot4/turtlebot4_description/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+      "Contribution" shall mean any work of authorship, including
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+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
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+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+      Work (including but not limited to damages for loss of goodwill,
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+   limitations under the License.

Assets/Importer/Examples/turtlebot4/turtlebot4_description/NOTICE.txt

@@ -0,0 +1,5 @@
+This URDF was generated with Xacro from the turtlebot4_description package, which can be found here: https://github.com/turtlebot/turtlebot4.
+It is otherwise unmodified. 
+
+This robot definition file has been developed by turtlebot4 contributors and shared under Apache-2.0 license (https://github.com/turtlebot/turtlebot4/blob/galactic/LICENSE).
+

Assets/LightingPresets/diffuse.dds

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+size 98452

Assets/LightingPresets/o3de_brdf.dds

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+oid sha256:6227a37547a43c3ef94b69361192bb34a3f1af4a203b8ef62e3134d45947b4a7
+size 262292

Assets/LightingPresets/skybox.dds

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+oid sha256:2c37745a2379fd22829ddae1be85f5e97fad9b849e2adee2410444d901186b04
+size 25165972

Assets/LightingPresets/specular.dds

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3a63069fe8b19b9a66278560495d91f790f74a23d8b5fbcc742f15d4f343a544
+size 2096788

Assets/Passes/MainRenderPipeline.azasset

@@ -0,0 +1,16 @@
+{
+    "Type": "JsonSerialization",
+    "Version": 1,
+    "ClassName": "RenderPipelineDescriptor",
+    "ClassData": {
+        "Name": "MainPipeline",
+        "MainViewTag": "MainCamera",
+        "RootPassTemplate": "MainPipeline",
+        "AllowModification": true,
+        "RenderSettings": {
+            "MultisampleState": {
+                "samples": 4
+            }
+        }
+    }
+}

Assets/Physics/SurfaceTypeMaterialLibrary.physmaterial

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+cmake_minimum_required(VERSION 2.8.3)
+project(RobotVacuum_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES fusion2urdf
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/fusion2urdf.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Assets/RoboVac/urdf/RobotVacuum_description/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Toshinori Kitamura
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Assets/RoboVac/urdf/RobotVacuum_description/launch/controller.launch

@@ -0,0 +1,9 @@
+<launch>
+
+<rosparam file="$(find RobotVacuum_description)/launch/controller.yaml" command="load"/>
+<node args="joint_state_controller " name="controller_spawner" ns="RobotVacuum" output="screen" pkg="controller_manager" respawn="false" type="spawner"/>
+<node name="robot_state_publisher" output="screen" pkg="robot_state_publisher" respawn="false" type="robot_state_publisher">
+  <remap from="/joint_states" to="/RobotVacuum/joint_states"/>
+</node>
+
+</launch>

Assets/RoboVac/urdf/RobotVacuum_description/launch/controller.yaml

@@ -0,0 +1,14 @@
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
+RobotVacuum_controller:
+  # Publish all joint states -----------------------------------
+  joint_state_controller:
+    type: joint_state_controller/JointStateController
+    publish_rate: 50
+
+  # Position Controllers --------------------------------------