URDF Model

From Georg No, 4 Years ago, written in XML.

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<?xml version="1.0" encoding="utf-8"?>











<robot name="Last_Mile_Robot">

<material name="black">

<color rgba="0.0 0.0 0.0 1.0"/>

</material>

<material name="blue">

<color rgba="0.0 0.0 0.8 1.0"/>

</material>

<material name="green">

<color rgba="0.0 0.8 0.0 1.0"/>

</material>

<material name="gray">

<color rgba="0.7 0.7 0.7 1.0"/>

</material>

<material name="darkgray">

<color rgba="0.3 0.3 0.3 1.0"/>

</material>

<material name="red">

<color rgba="0.8 0.0 0.0 1.0"/>

</material>

<material name="brown">

<color rgba="0.59 0.29 0 1.0"/>

</material>

<material name="white">

<color rgba="1.0 1.0 1.0 1.0"/>

</material>

<material name="yellow">

<color rgba="0.8 0.8 0.0 1.0"/>

</material>



<gazebo reference="chassis">

<material>Gazebo/Wood</material>

</gazebo>

<gazebo reference="front_right">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_left">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_right">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_left">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_right_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_left_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_right_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="rear_left_ext">

<material>Gazebo/Grey</material>

</gazebo>

<gazebo reference="front_right_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="front_left_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="rear_right_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="rear_left_ext2">

<material>Gazebo/Yellow</material>

</gazebo>

<gazebo reference="front_right_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="front_left_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="rear_right_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>

<gazebo reference="rear_left_wheel">

<material>Gazebo/FlatBlack</material>

</gazebo>



<gazebo>

<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"/>

</gazebo>

<gazebo>

<plugin filename="libgazebo_ros_synchronous_drive.so" name="synchronous_drive_controller">

<rosDebugLevel>Debug</rosDebugLevel>

<tfPrefix/>

<velocityTopic>cmd_vel</velocityTopic>

<odometryTopic>odom</odometryTopic>

<odometryFrame>odom</odometryFrame>

<robotBaseFrame>base_link</robotBaseFrame>

<updateRate>20.0</updateRate>

<wheelSeparation>1.237</wheelSeparation>

<wheelDiameter>0.42</wheelDiameter>

<wheelTorque>200</wheelTorque>

<wheelAcceleration>200</wheelAcceleration>

<publishWheelTF>true</publishWheelTF>

<publishOdomTF>true</publishOdomTF>

<publishWheelJointState>true</publishWheelJointState>

<odometrySource>world</odometrySource>



<leftFrontJoint>front_left_wheel_hinge</leftFrontJoint>

<rightFrontJoint>front_right_wheel_hinge</rightFrontJoint>

<leftRearJoint>rear_left_wheel_hinge</leftRearJoint>

<rightRearJoint>rear_right_wheel_hinge</rightRearJoint>

<turnTorque>200</turnTorque>

<leftFrontTurnJoint>front_left_hinge</leftFrontTurnJoint>

<rightFrontTurnJoint>front_right_hinge</rightFrontTurnJoint>

<leftRearTurnJoint>rear_left_hinge</leftRearTurnJoint>

<rightRearTurnJoint>rear_right_hinge</rightRearTurnJoint>

<publishTf>1</publishTf>

</plugin>

</gazebo>

<link name="base_link"/>

<link name="chassis">

<collision>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<geometry>

<box size=".65 .65 .05"/>

</geometry>

</collision>

<visual>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<geometry>

<box size=".65 .65 .05"/>

</geometry>

<material name="brown"/>

</visual>

<inertial>

<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>

<mass value="150"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="chassis_joint" type="fixed">

<origin xyz="0.0 0.0 0.75"/>

<parent link="base_link"/>

<child link="chassis"/>

</joint>



<link name="front_right">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_hinge" type="continuous">



<parent link="chassis"/>

<child link="front_right"/>

<axis xyz="0 0 1"/>

<origin rpy="0.0 0.0 0.0" xyz="0.325 -0.325 -0.30"/>

<limit effort="0.1" velocity="0.1"/>

</joint>

<link name="front_left">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_hinge" type="continuous">



<parent link="chassis"/>

<child link="front_left"/>

<axis xyz="0 0 1"/>

<origin xyz="0.325 0.325 -0.30"/>

<limit effort="0.1" velocity="0.1"/>

</joint>

<link name="rear_right">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_hinge" type="fixed">



<parent link="chassis"/>

<child link="rear_right"/>

<axis xyz="0 0 1"/>

<origin xyz="-0.325 -0.325 -0.30"/>

</joint>

<link name="rear_left">

<collision>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.55" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="10.0" ixy="0.0" ixz="0.0" iyy="10.0" iyz="0.0" izz="10.0"/>

</inertial>

</link>

<joint name="rear_left_hinge" type="fixed">



<parent link="chassis"/>

<child link="rear_left"/>

<axis xyz="0 0 1"/>

<origin xyz="-0.325 0.325 -0.30"/>

</joint>

<link name="front_right_tilt"/>

<joint name="front_right_tilt_joint" type="fixed">

<origin rpy="0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="front_right"/>

<child link="front_right_tilt"/>

</joint>

<link name="front_right_ext">

<collision name="front_right_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225 "/>

<parent link="front_right_tilt"/>

<child link="front_right_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="front_right_tilt2"/>

<joint name="front_right_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="front_right_ext"/>

<child link="front_right_tilt2"/>

</joint>

<link name="front_right_ext2">

<collision name="front_right_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_ext2_joint" type="fixed">

<origin rpy="0 0 0.785398163397" xyz="0.0 0.0 -0.16"/>

<parent link="front_right_tilt2"/>

<child link="front_right_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_right_wheel">

<collision name="front_right_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_right_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="front_right_ext2"/>

<child link="front_right_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_left_tilt"/>

<joint name="front_left_tilt_joint" type="fixed">

<origin rpy="-0.785398163397 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="front_left"/>

<child link="front_left_tilt"/>

</joint>

<link name="front_left_ext">

<collision name="front_left_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="front_left_tilt"/>

<child link="front_left_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="front_left_tilt2"/>

<joint name="front_left_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="front_left_ext"/>

<child link="front_left_tilt2"/>

</joint>

<link name="front_left_ext2">

<collision name="front_left_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_ext2_joint" type="fixed">

<origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 -0.16"/>

<parent link="front_left_tilt2"/>

<child link="front_left_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="front_left_wheel">

<collision name="front_left_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="front_left_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="front_left_ext2"/>

<child link="front_left_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_right_tilt"/>

<joint name="rear_right_tilt_joint" type="fixed">

<origin rpy="2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="rear_right"/>

<child link="rear_right_tilt"/>

</joint>

<link name="rear_right_ext">

<collision name="rear_right_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="rear_right_tilt"/>

<child link="rear_right_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="rear_right_tilt2"/>

<joint name="rear_right_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="rear_right_ext"/>

<child link="rear_right_tilt2"/>

</joint>

<link name="rear_right_ext2">

<collision name="rear_right_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_ext2_joint" type="fixed">

<origin rpy="0 0 2.35619449019" xyz="0.0 0.0 -0.16"/>

<parent link="rear_right_tilt2"/>

<child link="rear_right_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_right_wheel">

<collision name="rear_right_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_right_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="rear_right_ext2"/>

<child link="rear_right_wheel"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_left_tilt"/>

<joint name="rear_left_tilt_joint" type="fixed">

<origin rpy="-2.35619449019 1.57079632679 0.0" xyz="0.0 0.0 0.0"/>

<parent link="rear_left"/>

<child link="rear_left_tilt"/>

</joint>

<link name="rear_left_ext">

<collision name="rear_left_ext_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="gray"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_ext_hinge" type="fixed">

<origin rpy="0 -0.314159265359 0" xyz="0.0 0.0 0.225"/>

<parent link="rear_left_tilt"/>

<child link="rear_left_ext"/>

<axis xyz="0 0 0"/>

</joint>

<link name="rear_left_tilt2"/>

<joint name="rear_left_tilt2_joint" type="fixed">

<origin rpy="0 -1.25663706144 0.0" xyz="0.0 0.0 0.2"/>

<parent link="rear_left_ext"/>

<child link="rear_left_tilt2"/>

</joint>

<link name="rear_left_ext2">

<collision name="rear_left_ext2_collision">

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.4" radius="0.05"/>

</geometry>

<material name="yellow"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_ext2_joint" type="fixed">

<origin rpy="0 0 -2.35619449019" xyz="0.0 0.0 -0.16"/>

<parent link="rear_left_tilt2"/>

<child link="rear_left_ext2"/>

<axis xyz="0 0 1"/>

</joint>

<link name="rear_left_wheel">

<collision name="rear_left_wheel_collision">

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

</collision>

<visual>

<geometry>

<cylinder length="0.15" radius="0.21"/>

</geometry>

<material name="black"/>

</visual>

<inertial>

<mass value="1"/>

<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>

</inertial>

</link>

<joint name="rear_left_wheel_hinge" type="continuous">

<origin rpy="1.57079632679 0 0" xyz="0 0.1 -0.2"/>

<parent link="rear_left_ext2"/>

<child link="rear_left_wheel"/>

<axis xyz="0 0 1"/>

</joint>

</robot>

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&lt;?xml version=&quot;1.0&quot; encoding=&quot;utf-8&quot;?&gt;
&lt;!-- =================================================================================== --&gt;
&lt;!-- |    This document was autogenerated by xacro from last_mile_robot.xacro          | --&gt;
&lt;!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | --&gt;
&lt;!-- =================================================================================== --&gt;
&lt;!-- Last Mile Delivery Robot - JKU --&gt;
&lt;robot name=&quot;Last_Mile_Robot&quot;&gt;
  &lt;material name=&quot;black&quot;&gt;
    &lt;color rgba=&quot;0.0 0.0 0.0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;blue&quot;&gt;
    &lt;color rgba=&quot;0.0 0.0 0.8 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;green&quot;&gt;
    &lt;color rgba=&quot;0.0 0.8 0.0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;gray&quot;&gt;
    &lt;color rgba=&quot;0.7 0.7 0.7 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;darkgray&quot;&gt;
    &lt;color rgba=&quot;0.3 0.3 0.3 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;red&quot;&gt;
    &lt;color rgba=&quot;0.8 0.0 0.0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;brown&quot;&gt;
    &lt;color rgba=&quot;0.59 0.29 0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;white&quot;&gt;
    &lt;color rgba=&quot;1.0 1.0 1.0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;material name=&quot;yellow&quot;&gt;
    &lt;color rgba=&quot;0.8 0.8 0.0 1.0&quot;/&gt;
  &lt;/material&gt;
  &lt;!-- Colours --&gt;
  &lt;gazebo reference=&quot;chassis&quot;&gt;
    &lt;material&gt;Gazebo/Wood&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_right&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_left&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_right&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_left&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_right_ext&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_left_ext&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_right_ext&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_left_ext&quot;&gt;
    &lt;material&gt;Gazebo/Grey&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_right_ext2&quot;&gt;
    &lt;material&gt;Gazebo/Yellow&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_left_ext2&quot;&gt;
    &lt;material&gt;Gazebo/Yellow&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_right_ext2&quot;&gt;
    &lt;material&gt;Gazebo/Yellow&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_left_ext2&quot;&gt;
    &lt;material&gt;Gazebo/Yellow&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_right_wheel&quot;&gt;
    &lt;material&gt;Gazebo/FlatBlack&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;front_left_wheel&quot;&gt;
    &lt;material&gt;Gazebo/FlatBlack&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_right_wheel&quot;&gt;
    &lt;material&gt;Gazebo/FlatBlack&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;gazebo reference=&quot;rear_left_wheel&quot;&gt;
    &lt;material&gt;Gazebo/FlatBlack&lt;/material&gt;
  &lt;/gazebo&gt;
  &lt;!-- Controllers --&gt;
  &lt;gazebo&gt;
    &lt;plugin filename=&quot;libgazebo_ros_control.so&quot; name=&quot;gazebo_ros_control&quot;/&gt;
  &lt;/gazebo&gt;
  &lt;gazebo&gt;
    &lt;plugin filename=&quot;libgazebo_ros_synchronous_drive.so&quot; name=&quot;synchronous_drive_controller&quot;&gt;
      &lt;rosDebugLevel&gt;Debug&lt;/rosDebugLevel&gt;
      &lt;tfPrefix/&gt;
      &lt;velocityTopic&gt;cmd_vel&lt;/velocityTopic&gt;
      &lt;odometryTopic&gt;odom&lt;/odometryTopic&gt;
      &lt;odometryFrame&gt;odom&lt;/odometryFrame&gt;
      &lt;robotBaseFrame&gt;base_link&lt;/robotBaseFrame&gt;
      &lt;updateRate&gt;20.0&lt;/updateRate&gt;
      &lt;wheelSeparation&gt;1.237&lt;/wheelSeparation&gt;
      &lt;wheelDiameter&gt;0.42&lt;/wheelDiameter&gt;
      &lt;wheelTorque&gt;200&lt;/wheelTorque&gt;
      &lt;wheelAcceleration&gt;200&lt;/wheelAcceleration&gt;
      &lt;publishWheelTF&gt;true&lt;/publishWheelTF&gt;
      &lt;publishOdomTF&gt;true&lt;/publishOdomTF&gt;
      &lt;publishWheelJointState&gt;true&lt;/publishWheelJointState&gt;
      &lt;odometrySource&gt;world&lt;/odometrySource&gt;
      &lt;!-- world or encoder --&gt;
      &lt;leftFrontJoint&gt;front_left_wheel_hinge&lt;/leftFrontJoint&gt;
      &lt;rightFrontJoint&gt;front_right_wheel_hinge&lt;/rightFrontJoint&gt;
      &lt;leftRearJoint&gt;rear_left_wheel_hinge&lt;/leftRearJoint&gt;
      &lt;rightRearJoint&gt;rear_right_wheel_hinge&lt;/rightRearJoint&gt;
      &lt;turnTorque&gt;200&lt;/turnTorque&gt;
      &lt;leftFrontTurnJoint&gt;front_left_hinge&lt;/leftFrontTurnJoint&gt;
      &lt;rightFrontTurnJoint&gt;front_right_hinge&lt;/rightFrontTurnJoint&gt;
      &lt;leftRearTurnJoint&gt;rear_left_hinge&lt;/leftRearTurnJoint&gt;
      &lt;rightRearTurnJoint&gt;rear_right_hinge&lt;/rightRearTurnJoint&gt;
      &lt;publishTf&gt;1&lt;/publishTf&gt;
    &lt;/plugin&gt;
  &lt;/gazebo&gt;
  &lt;link name=&quot;base_link&quot;/&gt;
  &lt;link name=&quot;chassis&quot;&gt;
    &lt;collision&gt;
      &lt;origin rpy=&quot;0.0 0.0 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
      &lt;geometry&gt;
        &lt;box size=&quot;.65 .65 .05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;origin rpy=&quot;0.0 0.0 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
      &lt;geometry&gt;
        &lt;box size=&quot;.65 .65 .05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;brown&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;origin rpy=&quot;0.0 0.0 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
      &lt;mass value=&quot;150&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;chassis_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin xyz=&quot;0.0 0.0 0.75&quot;/&gt;
    &lt;parent link=&quot;base_link&quot;/&gt;
    &lt;child link=&quot;chassis&quot;/&gt;
  &lt;/joint&gt;
  &lt;!-- bis hier ists ok --&gt;
  &lt;link name=&quot;front_right&quot;&gt;
    &lt;collision&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_right_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;!--continuous--&gt;
    &lt;parent link=&quot;chassis&quot;/&gt;
    &lt;child link=&quot;front_right&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
    &lt;origin rpy=&quot;0.0 0.0 0.0&quot; xyz=&quot;0.325 -0.325 -0.30&quot;/&gt;
    &lt;limit effort=&quot;0.1&quot; velocity=&quot;0.1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left&quot;&gt;
    &lt;collision&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_left_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;!--continuous--&gt;
    &lt;parent link=&quot;chassis&quot;/&gt;
    &lt;child link=&quot;front_left&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
    &lt;origin xyz=&quot;0.325 0.325 -0.30&quot;/&gt;
    &lt;limit effort=&quot;0.1&quot; velocity=&quot;0.1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right&quot;&gt;
    &lt;collision&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_right_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;!--continuous--&gt;
    &lt;parent link=&quot;chassis&quot;/&gt;
    &lt;child link=&quot;rear_right&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
    &lt;origin xyz=&quot;-0.325 -0.325 -0.30&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left&quot;&gt;
    &lt;collision&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.55&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;10.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;10.0&quot; iyz=&quot;0.0&quot; izz=&quot;10.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_left_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;!--continuous--&gt;
    &lt;parent link=&quot;chassis&quot;/&gt;
    &lt;child link=&quot;rear_left&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
    &lt;origin xyz=&quot;-0.325 0.325 -0.30&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_right_tilt&quot;/&gt;
  &lt;joint name=&quot;front_right_tilt_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0.785398163397 1.57079632679 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
    &lt;parent link=&quot;front_right&quot;/&gt;
    &lt;child link=&quot;front_right_tilt&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_right_ext&quot;&gt;
    &lt;collision name=&quot;front_right_ext_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_right_ext_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -0.314159265359 0&quot; xyz=&quot;0.0 0.0 0.225 &quot;/&gt;
    &lt;parent link=&quot;front_right_tilt&quot;/&gt;
    &lt;child link=&quot;front_right_ext&quot;/&gt;
    &lt;axis xyz=&quot;0 0 0&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_right_tilt2&quot;/&gt;
  &lt;joint name=&quot;front_right_tilt2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -1.25663706144 0.0&quot; xyz=&quot;0.0 0.0 0.2&quot;/&gt;
    &lt;parent link=&quot;front_right_ext&quot;/&gt;
    &lt;child link=&quot;front_right_tilt2&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_right_ext2&quot;&gt;
    &lt;collision name=&quot;front_right_ext2_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;yellow&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_right_ext2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 0 0.785398163397&quot; xyz=&quot;0.0 0.0 -0.16&quot;/&gt;
    &lt;parent link=&quot;front_right_tilt2&quot;/&gt;
    &lt;child link=&quot;front_right_ext2&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_right_wheel&quot;&gt;
    &lt;collision name=&quot;front_right_wheel_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;black&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_right_wheel_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;origin rpy=&quot;1.57079632679 0 0&quot; xyz=&quot;0 0.1 -0.2&quot;/&gt;
    &lt;parent link=&quot;front_right_ext2&quot;/&gt;
    &lt;child link=&quot;front_right_wheel&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left_tilt&quot;/&gt;
  &lt;joint name=&quot;front_left_tilt_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;-0.785398163397 1.57079632679 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
    &lt;parent link=&quot;front_left&quot;/&gt;
    &lt;child link=&quot;front_left_tilt&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left_ext&quot;&gt;
    &lt;collision name=&quot;front_left_ext_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_left_ext_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -0.314159265359 0&quot; xyz=&quot;0.0 0.0 0.225&quot;/&gt;
    &lt;parent link=&quot;front_left_tilt&quot;/&gt;
    &lt;child link=&quot;front_left_ext&quot;/&gt;
    &lt;axis xyz=&quot;0 0 0&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left_tilt2&quot;/&gt;
  &lt;joint name=&quot;front_left_tilt2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -1.25663706144 0.0&quot; xyz=&quot;0.0 0.0 0.2&quot;/&gt;
    &lt;parent link=&quot;front_left_ext&quot;/&gt;
    &lt;child link=&quot;front_left_tilt2&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left_ext2&quot;&gt;
    &lt;collision name=&quot;front_left_ext2_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;yellow&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_left_ext2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 0 -0.785398163397&quot; xyz=&quot;0.0 0.0 -0.16&quot;/&gt;
    &lt;parent link=&quot;front_left_tilt2&quot;/&gt;
    &lt;child link=&quot;front_left_ext2&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;front_left_wheel&quot;&gt;
    &lt;collision name=&quot;front_left_wheel_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;black&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;front_left_wheel_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;origin rpy=&quot;1.57079632679 0 0&quot; xyz=&quot;0 0.1 -0.2&quot;/&gt;
    &lt;parent link=&quot;front_left_ext2&quot;/&gt;
    &lt;child link=&quot;front_left_wheel&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right_tilt&quot;/&gt;
  &lt;joint name=&quot;rear_right_tilt_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;2.35619449019 1.57079632679 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
    &lt;parent link=&quot;rear_right&quot;/&gt;
    &lt;child link=&quot;rear_right_tilt&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right_ext&quot;&gt;
    &lt;collision name=&quot;rear_right_ext_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_right_ext_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -0.314159265359 0&quot; xyz=&quot;0.0 0.0 0.225&quot;/&gt;
    &lt;parent link=&quot;rear_right_tilt&quot;/&gt;
    &lt;child link=&quot;rear_right_ext&quot;/&gt;
    &lt;axis xyz=&quot;0 0 0&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right_tilt2&quot;/&gt;
  &lt;joint name=&quot;rear_right_tilt2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -1.25663706144 0.0&quot; xyz=&quot;0.0 0.0 0.2&quot;/&gt;
    &lt;parent link=&quot;rear_right_ext&quot;/&gt;
    &lt;child link=&quot;rear_right_tilt2&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right_ext2&quot;&gt;
    &lt;collision name=&quot;rear_right_ext2_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;yellow&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_right_ext2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 0 2.35619449019&quot; xyz=&quot;0.0 0.0 -0.16&quot;/&gt;
    &lt;parent link=&quot;rear_right_tilt2&quot;/&gt;
    &lt;child link=&quot;rear_right_ext2&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_right_wheel&quot;&gt;
    &lt;collision name=&quot;rear_right_wheel_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;black&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_right_wheel_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;origin rpy=&quot;1.57079632679 0 0&quot; xyz=&quot;0 0.1 -0.2&quot;/&gt;
    &lt;parent link=&quot;rear_right_ext2&quot;/&gt;
    &lt;child link=&quot;rear_right_wheel&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left_tilt&quot;/&gt;
  &lt;joint name=&quot;rear_left_tilt_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;-2.35619449019 1.57079632679 0.0&quot; xyz=&quot;0.0 0.0 0.0&quot;/&gt;
    &lt;parent link=&quot;rear_left&quot;/&gt;
    &lt;child link=&quot;rear_left_tilt&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left_ext&quot;&gt;
    &lt;collision name=&quot;rear_left_ext_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;gray&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_left_ext_hinge&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -0.314159265359 0&quot; xyz=&quot;0.0 0.0 0.225&quot;/&gt;
    &lt;parent link=&quot;rear_left_tilt&quot;/&gt;
    &lt;child link=&quot;rear_left_ext&quot;/&gt;
    &lt;axis xyz=&quot;0 0 0&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left_tilt2&quot;/&gt;
  &lt;joint name=&quot;rear_left_tilt2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 -1.25663706144 0.0&quot; xyz=&quot;0.0 0.0 0.2&quot;/&gt;
    &lt;parent link=&quot;rear_left_ext&quot;/&gt;
    &lt;child link=&quot;rear_left_tilt2&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left_ext2&quot;&gt;
    &lt;collision name=&quot;rear_left_ext2_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.4&quot; radius=&quot;0.05&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;yellow&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_left_ext2_joint&quot; type=&quot;fixed&quot;&gt;
    &lt;origin rpy=&quot;0 0 -2.35619449019&quot; xyz=&quot;0.0 0.0 -0.16&quot;/&gt;
    &lt;parent link=&quot;rear_left_tilt2&quot;/&gt;
    &lt;child link=&quot;rear_left_ext2&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
  &lt;link name=&quot;rear_left_wheel&quot;&gt;
    &lt;collision name=&quot;rear_left_wheel_collision&quot;&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
    &lt;/collision&gt;
    &lt;visual&gt;
      &lt;geometry&gt;
        &lt;cylinder length=&quot;0.15&quot; radius=&quot;0.21&quot;/&gt;
      &lt;/geometry&gt;
      &lt;material name=&quot;black&quot;/&gt;
    &lt;/visual&gt;
    &lt;inertial&gt;
      &lt;mass value=&quot;1&quot;/&gt;
      &lt;inertia ixx=&quot;1.0&quot; ixy=&quot;0.0&quot; ixz=&quot;0.0&quot; iyy=&quot;1.0&quot; iyz=&quot;0.0&quot; izz=&quot;1.0&quot;/&gt;
    &lt;/inertial&gt;
  &lt;/link&gt;
  &lt;joint name=&quot;rear_left_wheel_hinge&quot; type=&quot;continuous&quot;&gt;
    &lt;origin rpy=&quot;1.57079632679 0 0&quot; xyz=&quot;0 0.1 -0.2&quot;/&gt;
    &lt;parent link=&quot;rear_left_ext2&quot;/&gt;
    &lt;child link=&quot;rear_left_wheel&quot;/&gt;
    &lt;axis xyz=&quot;0 0 1&quot;/&gt;
  &lt;/joint&gt;
&lt;/robot&gt;

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