Build URDF-Model from XML Macros

[BlackRose01]

Hello,

I would like to use that project with Drake. But it requires an URDF file instead of an XACRO file. I tried to build the file with the support of the following page https://www.kwesirutledge.info/thoughts/ur_urdfs but it always throws different errors that the mir_description package could not be found.

I used the same commands like on the linked page. I also deleted all unnecessary packages from the project and replaced the CMakeLists.txt from this project with the mentioned project on the page.

I hope you can help me.

Thanks in advance.

KR,
BlackRose01

[mintar]

Install Ubuntu 20.04 and ROS Noetic and follow the README instructions for installation. No need to mess around with the CMakeLists.txt or anything. Then run the following command:

xacro $(rospack find mir_description)/urdf/mir.urdf.xacro mir_type:=mir_100 tf_prefix:="" > mir.urdf

This will generate the file mir.urdf with the following content:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/mguenther/ros/noetic/mobipick/src/mir_robot/mir_description/urdf/mir.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="mir">
  <!-- necessary because args cannot be accessed inside ${} expressions -->
  <link name="base_footprint"/>
  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="base_link">
    <inertial>
      <mass value="77.0"/>
      <origin rpy="0 0 0" xyz="-0.012354000000000004 0.0 0.15"/>
      <inertia ixx="0.8341663330000001" ixy="0.0" ixz="0.0" iyy="1.8608325890000004" iyz="0.0" izz="2.1816657939999997"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.037646 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/mir_100_base.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.037646 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/collision/mir_100_base.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="base_link">
    <material>Gazebo/White</material>
  </gazebo>
  <!-- IMU -->
  <joint name="base_link_to_imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
    <!-- same as real MiR -->
  </joint>
  <link name="imu_link"/>
  <gazebo>
    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_plugin">
      <updateRate>50.0</updateRate>
      <bodyName>imu_link</bodyName>
      <frameId>imu_frame</frameId>
      <!-- from real MiR -->
      <topicName>imu_data</topicName>
      <accelDrift>0.0 0.0 0.0</accelDrift>
      <accelGaussianNoise>0.007071067811865475 0.01 0.011401754250991379</accelGaussianNoise>
      <!-- real MiR linear_acceleration_covariance: [5e-05, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.00013] -->
      <rateDrift>0.0 0.0 0.0</rateDrift>
      <rateGaussianNoise>0.00282842712474619 0.00282842712474619 0.0005477225575051661</rateGaussianNoise>
      <!-- real MiR angular_velocity_covariance: [8e-06, 0.0, 0.0, 0.0, 8e-06, 0.0, 0.0, 0.0, 3e-07] -->
      <yawDrift>0.0</yawDrift>
      <yawGaussianNoise>0.31622776601683794</yawGaussianNoise>
      <!-- real MiR orientation_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1] -->
    </plugin>
  </gazebo>
  <!-- Create an alias for imu_link. This is necessary because the real MiR's
         TF has imu_link, but the imu_data topic is published in the imu_frame
         frame. -->
  <joint name="imu_link_to_imu_frame_joint" type="fixed">
    <parent link="imu_link"/>
    <child link="imu_frame"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="imu_frame"/>
  <!-- Laser scanners -->
  <joint name="base_link_to_front_laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="front_laser_link"/>
    <origin rpy="0.0 0.0 0.7853981633974483" xyz="0.42964600000000003 0.2358 0.1914"/>
  </joint>
  <link name="front_laser_link">
    <visual>
      <origin rpy="3.141592653589793 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl"/>
      </geometry>
      <!-- <xacro:insert_block name="material_yellow" /> -->
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.2"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.005824997669999999" ixy="0.0" ixz="0.0" iyy="0.00585609765756" iyz="0.0" izz="0.00483609806556"/>
    </inertial>
  </link>
  <gazebo reference="front_laser_link">
    <!-- <material value="Gazebo/Yellow" /> -->
    <material value="Gazebo/FlatBlack"/>
    <sensor name="front_laser_link" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>12.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>541</samples>
            <resolution>1</resolution>
            <!-- has to be 1; actual resolution will be computed from number of samples + min_angle/max_angle -->
            <min_angle>-2.35619449615</min_angle>
            <max_angle>2.35619449615</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.05</min>
          <max>29.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for S300 achieving
                 "+-29mm" accuracy at range < 3m (~0.01 of the range) at
                 1 sigma. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_front_laser_link_controller">
        <frameName>front_laser_link</frameName>
        <topicName>f_scan</topicName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="base_link_to_back_laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="back_laser_link"/>
    <origin rpy="0.0 0.0 -2.356194490192345" xyz="-0.354354 -0.2358 0.1914"/>
  </joint>
  <link name="back_laser_link">
    <visual>
      <origin rpy="3.141592653589793 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl"/>
      </geometry>
      <!-- <xacro:insert_block name="material_yellow" /> -->
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.2"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.005824997669999999" ixy="0.0" ixz="0.0" iyy="0.00585609765756" iyz="0.0" izz="0.00483609806556"/>
    </inertial>
  </link>
  <gazebo reference="back_laser_link">
    <!-- <material value="Gazebo/Yellow" /> -->
    <material value="Gazebo/FlatBlack"/>
    <sensor name="back_laser_link" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>12.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>541</samples>
            <resolution>1</resolution>
            <!-- has to be 1; actual resolution will be computed from number of samples + min_angle/max_angle -->
            <min_angle>-2.35619449615</min_angle>
            <max_angle>2.35619449615</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.05</min>
          <max>29.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <!-- Noise parameters based on published spec for S300 achieving
                 "+-29mm" accuracy at range < 3m (~0.01 of the range) at
                 1 sigma. -->
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_back_laser_link_controller">
        <frameName>back_laser_link</frameName>
        <topicName>b_scan</topicName>
      </plugin>
    </sensor>
  </gazebo>
  <!-- Ultrasound sensors -->
  <joint name="us_1_joint" type="fixed">
    <!-- right ultrasound -->
    <parent link="base_link"/>
    <child link="us_1_frame"/>
    <origin rpy="0 0 0" xyz="0.45 -0.12 0.16 "/>
    <!-- from visually matching to the mesh of the MiR -->
  </joint>
  <link name="us_1_frame"/>
  <joint name="us_2_joint" type="fixed">
    <!-- left ultrasound -->
    <parent link="base_link"/>
    <child link="us_2_frame"/>
    <origin rpy="0 0 0" xyz="0.45 0.12 0.16 "/>
    <!-- from visually matching to the mesh of the MiR -->
  </joint>
  <link name="us_2_frame"/>
  <joint name="left_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.0 0.222604 0.0625"/>
    <parent link="base_link"/>
    <child link="left_wheel_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" velocity="20.0"/>
  </joint>
  <link name="left_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <joint name="right_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.0 -0.222604 0.0625"/>
    <parent link="base_link"/>
    <child link="right_wheel_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" velocity="20.0"/>
  </joint>
  <link name="right_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <!-- caster hub -->
  <joint name="fl_caster_rotation_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.34134600000000004 0.203 0.1565"/>
    <parent link="base_link"/>
    <child link="fl_caster_rotation_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.01" friction="0.0"/>
  </joint>
  <link name="fl_caster_rotation_link">
    <inertial>
      <!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
      <origin rpy="0.41887903200000004 0 1.5707963267948966 " xyz="0 0 -0.042500000044"/>
      <mass value="0.3097539019"/>
      <inertia ixx="0.0005844517978" ixy="0" ixz="0" iyy="0.00052872551237" iyz="0" izz="0.00017923555074"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl"/>
      </geometry>
      <material name="silver">
        <color rgba="0.79 0.82 0.93 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fl_caster_rotation_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <!-- caster wheel -->
  <joint name="fl_caster_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.0382 0 -0.094"/>
    <parent link="fl_caster_rotation_link"/>
    <child link="fl_caster_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="fl_caster_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fl_caster_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <!-- caster hub -->
  <joint name="fr_caster_rotation_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.34134600000000004 -0.203 0.1565"/>
    <parent link="base_link"/>
    <child link="fr_caster_rotation_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.01" friction="0.0"/>
  </joint>
  <link name="fr_caster_rotation_link">
    <inertial>
      <!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
      <origin rpy="0.41887903200000004 0 1.5707963267948966 " xyz="0 0 -0.042500000044"/>
      <mass value="0.3097539019"/>
      <inertia ixx="0.0005844517978" ixy="0" ixz="0" iyy="0.00052872551237" iyz="0" izz="0.00017923555074"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl"/>
      </geometry>
      <material name="silver">
        <color rgba="0.79 0.82 0.93 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fr_caster_rotation_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <!-- caster wheel -->
  <joint name="fr_caster_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.0382 0 -0.094"/>
    <parent link="fr_caster_rotation_link"/>
    <child link="fr_caster_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="fr_caster_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="fr_caster_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <!-- caster hub -->
  <joint name="bl_caster_rotation_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.270154 0.203 0.1565"/>
    <parent link="base_link"/>
    <child link="bl_caster_rotation_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.01" friction="0.0"/>
  </joint>
  <link name="bl_caster_rotation_link">
    <inertial>
      <!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
      <origin rpy="0.41887903200000004 0 1.5707963267948966 " xyz="0 0 -0.042500000044"/>
      <mass value="0.3097539019"/>
      <inertia ixx="0.0005844517978" ixy="0" ixz="0" iyy="0.00052872551237" iyz="0" izz="0.00017923555074"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl"/>
      </geometry>
      <material name="silver">
        <color rgba="0.79 0.82 0.93 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="bl_caster_rotation_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <!-- caster wheel -->
  <joint name="bl_caster_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.0382 0 -0.094"/>
    <parent link="bl_caster_rotation_link"/>
    <child link="bl_caster_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="bl_caster_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="bl_caster_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <!-- caster hub -->
  <joint name="br_caster_rotation_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.270154 -0.203 0.1565"/>
    <parent link="base_link"/>
    <child link="br_caster_rotation_link"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.01" friction="0.0"/>
  </joint>
  <link name="br_caster_rotation_link">
    <inertial>
      <!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
      <origin rpy="0.41887903200000004 0 1.5707963267948966 " xyz="0 0 -0.042500000044"/>
      <mass value="0.3097539019"/>
      <inertia ixx="0.0005844517978" ixy="0" ixz="0" iyy="0.00052872551237" iyz="0" izz="0.00017923555074"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl"/>
      </geometry>
      <material name="silver">
        <color rgba="0.79 0.82 0.93 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="br_caster_rotation_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <!-- caster wheel -->
  <joint name="br_caster_wheel_joint" type="continuous">
    <origin rpy="0 0 0" xyz="-0.0382 0 -0.094"/>
    <parent link="br_caster_rotation_link"/>
    <child link="br_caster_wheel_link"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="br_caster_wheel_link">
    <inertial>
      <mass value="1.0"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <inertia ixx="0.001061895408575" ixy="0.0" ixz="0.0" iyy="0.001061895408575" iyz="0.0" izz="0.001953125"/>
    </inertial>
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.032" radius="0.0625"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="br_caster_wheel_link">
    <material>Gazebo/FlatBlack</material>
  </gazebo>
  <joint name="base_link_surface_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.037646 0 0.352"/>
    <parent link="base_link"/>
    <child link="surface"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="surface"/>
  <transmission name="left_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_wheel_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="right_wheel_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_wheel_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_wheel_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="left_wheel_link">
    <mu1 value="200"/>
    <mu2 value="200"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo reference="right_wheel_link">
    <mu1 value="200"/>
    <mu2 value="200"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo reference="fl_caster_wheel_link">
    <mu1 value="1"/>
    <mu2 value="1"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo reference="fr_caster_wheel_link">
    <mu1 value="1"/>
    <mu2 value="1"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo reference="bl_caster_wheel_link">
    <mu1 value="1"/>
    <mu2 value="1"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo reference="br_caster_wheel_link">
    <mu1 value="1"/>
    <mu2 value="1"/>
    <kp value="10000000.0"/>
    <kd value="1.0"/>
    <minDepth>0.01</minDepth>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
      <alwaysOn>true</alwaysOn>
      <updateRate>50.0</updateRate>
      <bodyName>base_footprint</bodyName>
      <topicName>base_pose_ground_truth</topicName>
      <gaussianNoise>0.01</gaussianNoise>
      <frameName>map</frameName>
      <xyzOffsets>0 0 0</xyzOffsets>
      <rpyOffsets>0 0 0</rpyOffsets>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <controlPeriod>0.001</controlPeriod>
      <legacyModeNS>false</legacyModeNS>
    </plugin>
  </gazebo>
  <!-- instead of the controller_plugin_gazebo, you can use the diffdrive controller like this:
    <xacro:diff_controller_plugin_gazebo prefix=""
      left_wheel_joint="left_wheel_joint"
      right_wheel_joint="right_wheel_joint"
      wheel_separation="${2*mir_act_wheel_dy}"
      wheel_radius="${mir_act_wheel_radius}"/>
  -->
</robot>