<?xml version="1.0" ?>
<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/> -->

  <!-- Init colour -->
  <material name="black">
      <color rgba="0.0 0.0 0.0 1.0"/>
  </material>

  <material name="dark">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>

  <material name="light_black">
    <color rgba="0.4 0.4 0.4 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="grey">
    <color rgba="0.5 0.5 0.5 1.0"/>
  </material>

  <material name="orange">
    <color rgba="1.0 0.4235 0.0392 1.0"/>
  </material>

  <material name="brown">
    <color rgba="0.8706 0.8118 0.7647 1.0"/>
  </material>

  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>

  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>

  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link" />
    <origin xyz="0 0 0.010" rpy="0 0 0"/>
  </joint>

  <link name="base_link">
    <visual>
      <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="light_black"/>
    </visual>

    <collision>
      <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
      <geometry>
        <box size="0.266 0.266 0.094"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="1.3729096e+00"/>
      <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
               iyy="8.6195418e-03" iyz="-3.5422299e-06"
               izz="1.4612727e-02" />
    </inertial>
  </link>

  <joint name="wheel_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left_link"/>
    <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_left_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.018" radius="0.033"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="2.8498940e-02" />
      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
               iyy="1.1192413e-05" iyz="-1.4400107e-11"
               izz="2.0712558e-05" />
      </inertial>
  </link>

  <joint name="wheel_right_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_right_link"/>
    <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="wheel_right_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.018" radius="0.033"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="2.8498940e-02" />
      <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
               iyy="1.1192413e-05" iyz="-1.4400107e-11"
               izz="2.0712558e-05" />
      </inertial>
  </link>

  <joint name="caster_back_right_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_back_right_link"/>
    <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
  </joint>

  <link name="caster_back_right_link">
    <collision>
      <origin xyz="0 0.001 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.030 0.009 0.020"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="0.005" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
               iyy="0.001" iyz="0.0"
               izz="0.001" />
    </inertial>
  </link>

  <joint name="caster_back_left_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_back_left_link"/>
    <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
  </joint>

  <link name="caster_back_left_link">
    <collision>
      <origin xyz="0 0.001 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.030 0.009 0.020"/>
      </geometry>
    </collision>

    <inertial>
      <origin xyz="0 0 0" />
      <mass value="0.005" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
               iyy="0.001" iyz="0.0"
               izz="0.001" />
    </inertial>
  </link>

  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
    <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
  </joint>

  <link name="imu_link"/>

  <joint name="scan_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_scan"/>
    <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
  </joint>

  <link name="base_scan">
    <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://turtlebot3_gazebo/models/turtlebot3_common/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dark"/>
    </visual>

    <collision>
      <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.0315" radius="0.055"/>
      </geometry>
    </collision>

    <inertial>
      <mass value="0.114" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0"
               iyy="0.001" iyz="0.0"
               izz="0.001" />
    </inertial>
  </link>

  <joint name="camera_joint" type="fixed">
    <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="camera_link"/>
  </joint>

  <link name="camera_link">
    <collision>
      <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
      <geometry>
        <box size="0.015 0.030 0.027"/>
      </geometry>
    </collision>
  </link>

  <joint name="camera_rgb_joint" type="fixed">
    <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
    <parent link="camera_link"/>
    <child link="camera_rgb_frame"/>
  </joint>
  <link name="camera_rgb_frame"/>

  <joint name="camera_rgb_optical_joint" type="fixed">
    <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
    <parent link="camera_rgb_frame"/>
    <child link="camera_rgb_optical_frame"/>
  </joint>
  <link name="camera_rgb_optical_frame"/>

</robot>
