RobotVacuumSample/Assets/Importer/Examples/turtlebot4/turtlebot4.urdf

<?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>