update

README.md

@@ -1,18 +1,93 @@
-# 开始拉取代码
+* 语义推理与导航
 
+智能语义推理框架包含两个核心模块：  
+语义目标标注：利用 VLM识别物体  
+语义导航：机器人借助已保存的物体记忆，通过语义路标完成导航。  
+
+语义标注模块将 Faster R-CNN 与 CLIP 结合，实现零样本目标检测。  
+
+给定一个物体列表（例如：["Refrigerator", "water dispenser", "sofa", "white toilet", "office chair with wheels"]），由 Faster R-CNN 从 RGB 图像帧中生成候选区域。
+
+随后，使用 CLIP 将每个候选区域进行特征编码，并与文本标签做余弦相似度对比，为区域分配最可能的类别标签。
+
+点击 RViz2 中Nav2 Goal，在地图上选择目标位置，调整箭头设置机器人到达后的朝向，确认后机器人将自主导航，在探索过程中，系统会结合 RGB-D 数据 记录物体的中心坐标，并将置信度分数与位置信息存入 JSON 文件。
+只有当检测到更高置信度的结果时，才会更新原有记录。
+
+## 1. 环境要求
+- Ubuntu 22.04
+- ROS2 Humble
+- Gazebo Sim Harmonic
 ---
-```
-git clone http://git-test.databall.tech:3000/hq/ros2_office_vlm.git
 
-cd ros2_office_vlm
+### 编译
 
-# add your files to repo
+```bash
-git push
+cd /workspace
+colcon build --symlink-install
+source /opt/ros/humble/setup.bash
+source install/setup.bash
 ```
----
+
+### 注意事项
+之后每打开一个新终端，都建议先执行：
+
+```bash
+source /opt/ros/humble/setup.bash
+source install/setup.bash
+export TURTLEBOT3_MODEL=burger
+export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml
 ```
-cd existing_repo
+
-git remote add origin http://git-test.databall.tech:3000/hq/ros2_office_vlm.git
+为了方便，也可以写入 `~/.bashrc`：
-git branch -M main
+
-git push -uf origin main
+```bash
+echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
+echo 'source /workspace/install/setup.bash' >> ~/.bashrc
+echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
+echo 'export NAV2_MAP_PATH=/workspace/src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml' >> ~/.bashrc
+source ~/.bashrc
 ```
+1.   启动仿真， Nav2导航栈，  AMCL节点，rviz
+
+```bash
+./gzsim_run.sh
+ 
+ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
+    use_sim_time:=true \
+    map:=$NAV2_MAP_PATH
+
+ros2 launch nav2_bringup navigation_launch.py \
+    use_sim_time:=True \
+    params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
+    map:=$NAV2_MAP_PATH
+ 
+ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
+
+```
+2.   新开终端，执行环境生效后启动vlm_perception_pkg的语义检测节点，开始目标语义标注并构建语义记忆库，在机器人导航过程中，节点实时检测环境中的目标并生成语义标注结果，保存JSON 格式的语义记忆库到指定路径。
+```bash
+ros2 run vlm_perception_pkg vlm_detection
+# ros2 run vlm_perception_pkg vlm_detection --ros-args -p use_sim_time:=true -p reset_records_on_startup:=true # 重置检测记录
+```
+3.   加载生成的语义记忆库文件（in /workspace/src/vlm_nav_pkg/config），通过 CLIP 将语义标签编码为shared embedding space，当用户输入自然语言查询时，系统匹配最接近的已知目标，提取其坐标并发送至 Nav2，实现基于自然语言的语义导航。以下是验证步骤：
+4.   重新启动仿真， Nav2导航栈， AMCL节点，rviz
+```bash
+
+./gzsim_run.sh
+ 
+ros2 launch nav2_rrtstar_planner bringup_localization_with_initial_pose.launch.py \
+    use_sim_time:=true \
+    map:=$NAV2_MAP_PATH
+
+ros2 launch nav2_bringup navigation_launch.py \
+    use_sim_time:=True \
+    params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml  \
+    map:=$NAV2_MAP_PATH
+ 
+ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
+
+pip3 install "numpy<2"
+ros2 run vlm_nav_pkg semantic_nav
+```
+
+节点启动后，在终端输入自然语言语义目标（如 “water dispenser”“sofa”），系统将自动完成：语义查询与shared embedding space匹配，提取目标对应的地图坐标并向 Nav2 发送导航目标位姿，然后机器人自主规划路径并导航至语义目标位置，RViz2 中实时可视化规划路径与导航过程

gzsim_run.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+
+ROOT="/workspace"
+
+sleep 5
+
+set +u
+source /opt/ros/humble/setup.bash
+source "${ROOT}/install/setup.bash"
+set -u
+
+LOG_DIR="${ROOT}/autorun_logs/autorun_$(date +%Y%m%d_%H%M%S)"
+mkdir -p "$LOG_DIR"
+
+kill_port_listeners() {
+  local port="$1"
+  local pids
+  pids="$(ss -ltnp 2>/dev/null | grep ":${port} " | sed -E 's/.*pid=([0-9]+).*/\1/' | sort -u || true)"
+  if [[ -n "${pids}" ]]; then
+    echo "[run_all] port ${port} already in use, killing: ${pids}"
+    kill ${pids} 2>/dev/null || true
+    sleep 1
+  fi
+}
+
+kill_port_listeners 9002
+
+export TURTLEBOT3_MODEL=burger
+ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 &
+GZSIM_PID=$!
+# gz sim -v 4 -s -r empty.sdf > "${LOG_DIR}/empty_gzsim.log" 2>&1 &
+# GZSIM_PID=$!
+
+echo "[autorun] tb3_gzsim pid=${GZSIM_PID}, log=${LOG_DIR}/tb3_gzsim.log"
+
+sleep 8
+
+if ps -p "$GZSIM_PID" > /dev/null; then
+  echo "[autorun] tb3_gzsim is still running"
+else
+  echo "[autorun] tb3_gzsim exited early. Log:"
+  cat "${LOG_DIR}/tb3_gzsim.log"
+fi
+
+echo "[autorun] starting websocket ..."
+
+gz launch "${ROOT}/src/websocket.gzlaunch" > "${LOG_DIR}/websocket.log" 2>&1 &
+WEBSOCKET_PID=$!
+
+echo "[autorun] websocket pid=${WEBSOCKET_PID}, log=${LOG_DIR}/websocket.log"
+
+sleep 10
+
+if ps -p "$WEBSOCKET_PID" > /dev/null; then
+  echo "[autorun] websocket is still running"
+else
+  echo "[autorun] websocket exited early. Log:"
+  cat "${LOG_DIR}/websocket.log"
+  exit 1
+fi
+
+echo "[autorun] all services started."
+echo "[autorun] tb3_gzsim pid=${GZSIM_PID}"
+echo "[autorun] websocket pid=${WEBSOCKET_PID}"
+
+wait

src/turtlebot3_simulations/turtlebot3_gazebo/CHANGELOG.rst

@@ -0,0 +1,187 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot3_gazebo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.3.8 (2025-07-10)
+------------------
+* None
+
+2.3.6 (2025-06-19)
+------------------
+* None
+
+2.3.4 (2025-05-28)
+------------------
+* None
+
+2.3.0 (2025-02-17)
+------------------
+* Added multi-robot launch functionality
+* Updated robot mesh in Gazebo and RViz
+* Added launch file for TurtleBot3 Autorace 2020
+* Added plugins to the models of Autorace 2020
+* Contributors: Hyungyu Kim
+
+2.2.6 (2022-05-26)
+------------------
+* ROS 2 Humble Hawksbill supported
+* Contributors: Will Son
+
+2.2.5 (2021-08-25)
+------------------
+* Release for ROS 2 Rolling
+* Contributors: Will Son
+
+2.2.4 (2021-06-14)
+------------------
+* Release for ROS 2 Galactic
+* Separate world and robot models(#162)
+* Clean up unncessary files
+* Use turtlebot3_common mesh modeling
+* Independent turtlebot3_simulations package
+* Contributors: Joep Tool, Will Son
+
+2.2.3 (2021-04-12)
+------------------
+* Update required keyword arguments
+* Clear up exec_depend
+* Fix Waffle Pi wheel inertia
+* Contributors: ruffsl, Will Son
+
+2.2.2 (2021-02-24)
+------------------
+* Remove shared objects built in older version
+* Contributors: Will Son
+
+2.2.1 (2021-01-13)
+------------------
+* Eloquent Elusor EOL
+* Add missing imu joint in sdf
+* Append Gazebo model path
+* Portable fix, launch description revise
+* Ament lint applied
+* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
+
+2.2.0 (2020-06-29)
+------------------
+* TurtleBot3 Drive node implementation
+* Additional Gazebo maps added
+* argument tags in the sdf file replaced with remapping tags
+* Low polygon 3D modeling applied for simulation
+* Contributors: Ryan Shim, Mikael Arguedas, Will Son
+
+2.1.0 (2019-09-10)
+------------------
+* Added turtlebot3_house and related world, model files
+* Contributors: Ryan Shim
+
+2.0.1 (2019-09-05)
+------------------
+* Modified dependency packages
+* Modified launch directory
+* Added a launch file for robot state publisher
+* Contributors: Darby Lim, Pyo
+
+2.0.0 (2019-08-20)
+------------------
+* Supported ROS 2 Dashing Diademata
+* Updated the CHANGELOG and version to release binary packages
+* Contributors: Darby Lim, Pyo
+
+1.3.0 (2020-06-29)
+------------------
+* Turtlebot3 Autorace 2020 implemented
+* Remove the plugin_path from gazebo_ros export
+* Remove *nix path separator
+* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
+
+1.2.0 (2019-01-22)
+------------------
+* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
+* modified ML stage
+* delete unused param
+* update algorithm and modified variable more clearly
+* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
+
+1.1.0 (2018-07-20)
+------------------
+* modified uri path
+* modified autorace
+* delete remap
+* Contributors: Darby Lim, Gilbert, Pyo
+
+1.0.2 (2018-06-01)
+------------------
+* added mission.launch modified model.sdf
+* deleted turtlebot3's gazebo plugins
+* modified autorace gazebo
+* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
+* Contributors: Gilbert, Darby Lim, Pyo
+
+1.0.1 (2018-05-30)
+------------------
+* resolving dependency issues:
+  http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
+* Contributors: Pyo
+
+1.0.0 (2018-05-29)
+------------------
+* added world for turtlebot3_autorace
+* added world for turtlebot3_machine_learning
+* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
+  add turtlebot3_autorace world'
+* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
+* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
+
+0.2.4 (2018-03-14)
+------------------
+* None
+
+0.2.3 (2018-03-14)
+------------------
+* solved DuplicateVersionsException error
+* Contributors: Pyo
+
+0.2.2 (2018-03-14)
+------------------
+* None
+
+0.2.1 (2018-03-14)
+------------------
+* added worlds for gazebo and turtlebot3
+* Contributors: Darby Lim
+
+0.2.0 (2018-03-13)
+------------------
+* added slam with multiple tb3
+* added multi example
+* added turtlebot3_house
+* modified cmake file
+* modified spwn model name
+* modified multi slam param
+* modified camera position
+* modified folder name
+* Contributors: Darby Lim
+
+0.1.7 (2017-08-16)
+------------------
+* renamed missed the install rule (worlds -> models)
+* Contributors: Darby Lim, Tully Foote
+
+0.1.6 (2017-08-14)
+------------------
+* modified folder name and model path
+* updated rviz and add static tf publisher for depth camera
+* Contributors: Darby Lim
+
+0.1.5 (2017-06-09)
+------------------
+* modified make files for dependencies
+* updated turtlebot3 sim
+* updated world config
+* Contributors: Darby Lim
+
+0.1.4 (2017-05-23)
+------------------
+* added as new meta-packages and version update (0.1.4)
+* Contributors: Darby Lim, Pyo

src/turtlebot3_simulations/turtlebot3_gazebo/CMakeLists.txt

@@ -0,0 +1,139 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(turtlebot3_gazebo)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+if(MSVC)
+  add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+
+################################################################################
+# Find ament packages and libraries for ament and system dependencies
+# NOTE: Migrating from Gazebo Classic to Gazebo Sim (gz-8 / Harmonic)
+################################################################################
+find_package(ament_cmake REQUIRED)
+
+# ROS 2 core packages
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+
+# Gazebo Sim (Harmonic) libraries
+find_package(gz-sim8 REQUIRED)
+find_package(gz-msgs10 REQUIRED)
+find_package(gz-transport13 REQUIRED)
+find_package(gz-physics7 REQUIRED)
+find_package(gz-math7 REQUIRED)
+find_package(gz-common5 REQUIRED)
+find_package(gz-plugin2 REQUIRED)
+find_package(sdformat14 REQUIRED)
+
+# Optional: ros_gz bridge packages (for launch integration)
+find_package(ros_gz_bridge QUIET)
+find_package(ros_gz_sim QUIET)
+
+################################################################################
+# Build
+################################################################################
+
+include_directories(
+  include
+  ${gz-sim8_INCLUDE_DIRS}
+  ${gz-msgs10_INCLUDE_DIRS}
+  ${gz-transport13_INCLUDE_DIRS}
+  ${gz-physics7_INCLUDE_DIRS}
+  ${gz-math7_INCLUDE_DIRS}
+  ${gz-common5_INCLUDE_DIRS}
+  ${gz-plugin2_INCLUDE_DIRS}
+  ${sdformat14_INCLUDE_DIRS}
+)
+
+set(dependencies
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "sensor_msgs"
+  "tf2"
+)
+
+# --- Executable: turtlebot3_drive (ROS 2 navigation node, no gazebo deps) ---
+set(EXEC_NAME "turtlebot3_drive")
+add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
+ament_target_dependencies(${EXEC_NAME} ${dependencies})
+
+# --- Shared Libraries: Custom Gazebo Sim System Plugins ---
+# NOTE: These plugins originally used the Gazebo Classic API (gazebo::ModelPlugin)
+#       with headers like <gazebo/gazebo.hh>. They must be rewritten to use the
+#       gz-sim System API (ISystemPreUpdate, EntityComponentManager, etc.)
+#       before they can compile. Default OFF until porting is done.
+option(BUILD_GAZEBO_PLUGINS "Build custom Gazebo Sim system plugins" OFF)
+
+if(BUILD_GAZEBO_PLUGINS)
+  set(GZ_PLUGIN_LIBRARIES
+    gz-sim8::gz-sim8
+    gz-msgs10::gz-msgs10
+    gz-transport13::gz-transport13
+    gz-physics7::gz-physics7
+    gz-math7::gz-math7
+    gz-common5::gz-common5
+    gz-plugin2::gz-plugin2
+    sdformat14::sdformat14
+  )
+
+  add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
+  target_link_libraries(traffic_light_plugin ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
+  target_link_libraries(traffic_bar_plugin ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacle1 SHARED src/obstacle1.cpp)
+  target_link_libraries(obstacle1 ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacle2 SHARED src/obstacle2.cpp)
+  target_link_libraries(obstacle2 ${GZ_PLUGIN_LIBRARIES})
+
+  add_library(obstacles SHARED src/obstacles.cpp)
+  target_link_libraries(obstacles ${GZ_PLUGIN_LIBRARIES})
+endif()
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS ${EXEC_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch config models rviz urdf worlds scripts gui
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Install Python scripts with correct permissions
+install(PROGRAMS scripts/scan_frame_fix.py scripts/camera_topic_remap.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+################################################################################
+# Export & Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_export_dependencies(geometry_msgs)
+ament_export_dependencies(nav_msgs)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(sensor_msgs)
+ament_export_dependencies(tf2)
+ament_package()

src/turtlebot3_simulations/turtlebot3_gazebo/config/turtlebot3_gz_bridge.yaml

@@ -0,0 +1,69 @@
+# TurtleBot3 Burger - Gz Sim to ROS 2 Bridge Configuration
+# For use with ros_gz_bridge bridge_node
+#
+# Key migration notes (Gazebo Classic -> Gazebo Sim):
+#   1. gz-sim-diff-drive publishes Odometry but NOT TF (unlike Classic).
+#      TF is bridged from /world/<world>/pose/info (gz.msgs.Pose_V -> TFMessage).
+#   2. Sensor frame_ids use Gazebo scoped names (e.g. burger/base_scan/...).
+#      Overridden below via 'frame_id' field to match URDF/robot_state_publisher tree.
+
+# === TF: bridge Gazebo model tf to ROS2 /tf ===
+# /model/burger/tf publishes gz.msgs.Pose_V (NOT Pose!)
+# ros_gz_bridge converts Pose_V -> TFMessage correctly.
+- ros_topic_name: /tf
+  ros_type_name: tf2_msgs/msg/TFMessage
+  gz_topic_name: /model/burger/tf
+  gz_type_name: gz.msgs.Pose_V
+  direction: GZ_TO_ROS
+
+# === Sensor bridges ===
+- ros_topic_name: /scan_raw
+  ros_type_name: sensor_msgs/msg/LaserScan
+  gz_topic_name: /world/default/model/burger/link/base_scan/sensor/hls_lfcd_lds/scan
+  gz_type_name: gz.msgs.LaserScan
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_rgb/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/image
+  gz_type_name: gz.msgs.Image
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_rgb/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_rgb/camera_info
+  gz_type_name: gz.msgs.CameraInfo
+  direction: GZ_TO_ROS
+
+# === Depth image (L16 workaround for Humble) ===
+# Gazebo depth camera with <format>L16</format> publishes on /depth_image topic
+# as gz.msgs.Image type (NOT /image). This bypasses unsupported gz.msgs.DepthImage.
+- ros_topic_name: /intel_realsense_r200_depth/depth/image_raw
+  ros_type_name: sensor_msgs/msg/Image
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/depth_image
+  gz_type_name: gz.msgs.Image
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /intel_realsense_r200_depth/camera_info
+  ros_type_name: sensor_msgs/msg/CameraInfo
+  gz_topic_name: /world/default/model/burger/link/realsense_link/sensor/intel_realsense_r200_depth/camera_info
+  gz_type_name: gz.msgs.CameraInfo
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /clock
+  ros_type_name: rosgraph_msgs/msg/Clock
+  gz_topic_name: /clock
+  gz_type_name: gz.msgs.Clock
+  direction: GZ_TO_ROS
+
+- ros_topic_name: /cmd_vel
+  ros_type_name: geometry_msgs/msg/Twist
+  gz_topic_name: /model/burger/cmd_vel
+  gz_type_name: gz.msgs.Twist
+  direction: ROS_TO_GZ
+
+- ros_topic_name: /odom
+  ros_type_name: nav_msgs/msg/Odometry
+  gz_topic_name: /model/burger/odometry
+  gz_type_name: gz.msgs.Odometry
+  direction: GZ_TO_ROS

src/turtlebot3_simulations/turtlebot3_gazebo/gui/office_gui.config

@@ -0,0 +1,270 @@
+<?xml version="1.0"?>
+
+<!-- Quick start dialog -->
+<dialog name="quick_start" show_again="true"/>
+
+<!-- Window -->
+<window>
+  <width>1400</width>
+  <height>900</height>
+  <style
+    material_theme="Light"
+    material_primary="DeepOrange"
+    material_accent="LightBlue"
+    toolbar_color_light="#f3f3f3"
+    toolbar_text_color_light="#111111"
+    toolbar_color_dark="#414141"
+    toolbar_text_dark="#f3f3f3"
+    plugin_toolbar_color_light="#bbdefb"
+    plugin_toolbar_text_color_light="#111111"
+    plugin_toolbar_color_dark="#607d8b"
+    plugin_toolbar_text_color_dark="#eeeeee"
+  />
+  <menus>
+    <drawer default="false">
+    </drawer>
+  </menus>
+  <dialog_on_exit>true</dialog_on_exit>
+</window>
+
+<!-- GUI plugins -->
+
+<!-- 3D scene -->
+<plugin filename="MinimalScene" name="3D View">
+  <gz-gui>
+    <title>3D View</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+
+  <engine>ogre2</engine>
+  <scene>scene</scene>
+  <ambient_light>0.4 0.4 0.4</ambient_light>
+  <background_color>0.8 0.8 0.8</background_color>
+  <camera_pose>0 -5 12 0 1.2 1.57</camera_pose>
+</plugin>
+
+<!-- Plugins that add functionality to the scene -->
+<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+  <gz-gui>
+    <property key="state" type="string">floating</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="GzSceneManager" name="Scene Manager">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="CameraTracking" name="Camera Tracking">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker manager">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+<plugin filename="SelectEntities" name="Select Entities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<plugin filename="Spawn" name="Spawn Entities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </gz-gui>
+</plugin>
+
+<!-- World control -->
+<plugin filename="WorldControl" name="World control">
+  <gz-gui>
+    <title>World control</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">72</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="left" target="left"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </gz-gui>
+
+  <play_pause>true</play_pause>
+  <step>true</step>
+  <start_paused>true</start_paused>
+  <use_event>true</use_event>
+
+</plugin>
+
+<!-- World statistics -->
+<plugin filename="WorldStats" name="World stats">
+  <gz-gui>
+    <title>World stats</title>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="bool" key="resizable">false</property>
+    <property type="double" key="height">110</property>
+    <property type="double" key="width">290</property>
+    <property type="double" key="z">1</property>
+
+    <property type="string" key="state">floating</property>
+    <anchors target="3D View">
+      <line own="right" target="right"/>
+      <line own="bottom" target="bottom"/>
+    </anchors>
+  </gz-gui>
+
+  <sim_time>true</sim_time>
+  <real_time>true</real_time>
+  <real_time_factor>true</real_time_factor>
+  <iterations>true</iterations>
+</plugin>
+
+<!-- Insert simple shapes -->
+<plugin filename="Shapes" name="Shapes">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">300</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </gz-gui>
+</plugin>
+
+<!-- Insert lights -->
+<plugin filename="Lights" name="Lights">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">0</property>
+    <property key="width" type="double">150</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#666666</property>
+  </gz-gui>
+</plugin>
+
+<!-- Translate / rotate -->
+<plugin filename="TransformControl" name="Transform control">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">0</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">250</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Screenshot -->
+<plugin filename="Screenshot" name="Screenshot">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">250</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">50</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Copy/Paste -->
+<plugin filename="CopyPaste" name="CopyPaste">
+  <gz-gui>
+    <property key="resizable" type="bool">false</property>
+    <property key="x" type="double">300</property>
+    <property key="y" type="double">50</property>
+    <property key="width" type="double">100</property>
+    <property key="height" type="double">50</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+    <property key="cardBackground" type="string">#777777</property>
+  </gz-gui>
+</plugin>
+
+<!-- Inspector -->
+<plugin filename="ComponentInspector" name="Component inspector">
+  <gz-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Entity tree -->
+<plugin filename="EntityTree" name="Entity tree">
+  <gz-gui>
+    <property type="bool" key="showTitleBar">false</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Image Display - show camera images from GzSim sensors -->
+<plugin filename="ImageDisplay" name="Image Display">
+  <gz-gui>
+    <title>Image Display</title>
+    <property type="bool" key="showTitleBar">true</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>
+
+<!-- Visualize Lidar - show lidar point cloud visualization -->
+<plugin filename="VisualizeLidar" name="Visualize Lidar">
+  <gz-gui>
+    <title>Visualize Lidar</title>
+    <property type="bool" key="showTitleBar">true</property>
+    <property type="string" key="state">docked</property>
+  </gz-gui>
+</plugin>

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle1.hpp

@@ -0,0 +1,38 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle1 : public ModelPlugin
+{
+public:
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacle2.hpp

@@ -0,0 +1,39 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class Obstacle2 : public ModelPlugin
+{
+public:
+  Obstacle2() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/obstacles.hpp

@@ -0,0 +1,41 @@
+// Copyright 2012 Open Source Robotics Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
+
+#include <ignition/math.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+#define PI 3.141592
+
+namespace gazebo
+{
+class Obstacles : public ModelPlugin
+{
+public:
+  Obstacles() = default;
+  void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
+
+private:
+  physics::ModelPtr model;
+  event::ConnectionPtr updateConnection;
+};
+GZ_REGISTER_MODEL_PLUGIN(Obstacles);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_bar_plugin.hpp

@@ -0,0 +1,45 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficBar : public ModelPlugin
+{
+public:
+  TrafficBar();
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  ignition::math::Pose3d down_pose;
+  ignition::math::Pose3d up_pose;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficBar);
+}  // namespace gazebo
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/traffic_light_plugin.hpp

@@ -0,0 +1,53 @@
+// Copyright 2025 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Author: Hyungyu Kim
+
+#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+#define TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
+
+#include <string>
+#include <vector>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+namespace gazebo
+{
+class TrafficLight : public ModelPlugin
+{
+public:
+  TrafficLight();
+  ~TrafficLight();
+
+  void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
+  void OnUpdate();
+
+private:
+  double traffic_cycle;
+  int status;
+  std::vector<std::string> textures;
+
+  common::Time last_time;
+  event::ConnectionPtr update_connection;
+  gazebo::transport::NodePtr node;
+  gazebo::msgs::Visual msg;
+  gazebo::transport::PublisherPtr visPub;
+  physics::ModelPtr model;
+  physics::WorldPtr world;
+};
+GZ_REGISTER_MODEL_PLUGIN(TrafficLight);
+}  // namespace gazebo
+
+#endif  // TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp

@@ -0,0 +1,70 @@
+// Copyright 2019 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// Authors: Taehun Lim (Darby), Ryan Shim
+
+#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
+
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/laser_scan.hpp>
+
+#define DEG2RAD (M_PI / 180.0)
+#define RAD2DEG (180.0 / M_PI)
+
+#define CENTER 0
+#define LEFT   1
+#define RIGHT  2
+
+#define LINEAR_VELOCITY  0.3
+#define ANGULAR_VELOCITY 1.5
+
+#define GET_TB3_DIRECTION 0
+#define TB3_DRIVE_FORWARD 1
+#define TB3_RIGHT_TURN    2
+#define TB3_LEFT_TURN     3
+
+class Turtlebot3Drive : public rclcpp::Node
+{
+public:
+  Turtlebot3Drive();
+  ~Turtlebot3Drive();
+
+private:
+  // ROS topic publishers
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
+
+  // ROS topic subscribers
+  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
+  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
+
+  // Variables
+  double robot_pose_;
+  double prev_robot_pose_;
+  double scan_data_[3];
+
+  // ROS timer
+  rclcpp::TimerBase::SharedPtr update_timer_;
+
+  // Function prototypes
+  void update_callback();
+  void update_cmd_vel(double linear, double angular);
+  void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
+  void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
+};
+#endif  // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_

src/turtlebot3_simulations/turtlebot3_gazebo/launch/empty_world.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'empty_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_robot.launch.py

@@ -0,0 +1,137 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, HyunGyu Kim
+
+import os
+import xml.etree.ElementTree as ET
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch.actions import IncludeLaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnShutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import PushRosNamespace
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    number_of_robots = 4
+    namespace = 'TB3'
+    pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'model.sdf'
+    )
+    save_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'models',
+        model_folder,
+        'tmp'
+    )
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd_list = []
+
+    for count in range(number_of_robots):
+        robot_state_publisher_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+                ),
+                launch_arguments={
+                    'use_sim_time': use_sim_time,
+                    'frame_prefix': f'{namespace}_{count+1}'
+                    }.items()
+            )
+        )
+
+    spawn_turtlebot_cmd_list = []
+
+    for count in range(number_of_robots):
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        for odom_frame_tag in root.iter('odometry_frame'):
+            odom_frame_tag.text = f'{namespace}_{count+1}/odom'
+        for base_frame_tag in root.iter('robot_base_frame'):
+            base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
+        for scan_frame_tag in root.iter('frame_name'):
+            scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
+        urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
+        urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
+        with open(f'{save_path}{count+1}.sdf', 'w') as file:
+            file.write(urdf_modified)
+
+        spawn_turtlebot_cmd_list.append(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
+                ),
+                launch_arguments={
+                        'x_pose': str(pose[count][0]),
+                        'y_pose': str(pose[count][1]),
+                        'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
+                        'namespace': f'{namespace}_{count+1}',
+                        'sdf_path': f'{save_path}{count+1}.sdf'
+                }.items()
+            )
+        )
+
+    ld = LaunchDescription()
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(RegisterEventHandler(
+        OnShutdown(
+            on_shutdown=lambda event,
+            context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
+        )
+    ))
+    for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
+        ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
+                                  robot_state_publisher_cmd_list[count-1],
+                                  spawn_turtlebot_cmd]))
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/multi_spawn_turtlebot3.launch.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: HyunGyu Kim
+
+import os
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+    robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
+    namespace = LaunchConfiguration('namespace', default='')
+    sdf_path = LaunchConfiguration('sdf_path', default='')
+
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='0.0',
+        description='Specify namespace of the robot')
+    start_gazebo_ros_spawner_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=[
+            '-entity', robot_name,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.01',
+            '-robot_namespace', namespace
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/robot_state_publisher.launch.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Darby Lim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch.substitutions import PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
+    frame_prefix = LaunchConfiguration('frame_prefix', default='')
+
+    print('urdf_file_name : {}'.format(urdf_file_name))
+
+    urdf_path = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'urdf',
+        urdf_file_name)
+
+    with open(urdf_path, 'r') as infp:
+        robot_desc = infp.read()
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo) clock if true'),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'use_sim_time': use_sim_time,
+                'robot_description': robot_desc,
+                'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
+            }],
+        ),
+    ])

src/turtlebot3_simulations/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py

@@ -0,0 +1,87 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# Migrated from Gazebo Classic to Gazebo Sim (gz-sim / Harmonic)
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Pre-resolve package paths (portable across environments)
+    turtlebot3_gazebo_share = get_package_share_directory('turtlebot3_gazebo')
+
+    # Get the SDF file
+    TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
+    model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
+    sdf_path = os.path.join(
+        turtlebot3_gazebo_share,
+        'models',
+        model_folder,
+        'model_gz.sdf'
+    )
+
+    # Bridge configuration YAML (avoids --ros-args -p @ parsing issue)
+    bridge_config_path = os.path.join(
+        turtlebot3_gazebo_share, 'config', 'turtlebot3_gz_bridge.yaml'
+    )
+
+    # Launch configuration variables specific to simulation
+    x_pose = LaunchConfiguration('x_pose', default='3.0')
+    y_pose = LaunchConfiguration('y_pose', default='3.0')
+
+    # Declare the launch arguments
+    declare_x_position_cmd = DeclareLaunchArgument(
+        'x_pose', default_value='3.0',
+        description='Specify namespace of the robot')
+
+    declare_y_position_cmd = DeclareLaunchArgument(
+        'y_pose', default_value='3.0',
+        description='Specify namespace of the robot')
+
+    start_gz_spawner_cmd = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-name', TURTLEBOT3_MODEL,
+            '-file', sdf_path,
+            '-x', x_pose,
+            '-y', y_pose,
+            '-z', '0.03'
+        ],
+        output='screen',
+    )
+
+    start_bridge_cmd = Node(
+        package='ros_gz_bridge',
+        executable='bridge_node',
+        parameters=[{
+            'config_file': bridge_config_path,
+            'use_sim_time': True,
+        }],
+        output='screen'
+    )
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_x_position_cmd)
+    ld.add_action(declare_y_position_cmd)
+    ld.add_action(start_gz_spawner_cmd)
+    ld.add_action(start_bridge_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_autorace_2020.launch.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool, Hyungyu Kim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.8')
+    y_pose = LaunchConfiguration('y_pose', default='-1.747')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_autorace_2020.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage1.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage2.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage3.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_dqn_stage4.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_house.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_house.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_office.launch.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+# Migrated from Gazebo Classic to Gazebo Sim (gz-sim / Harmonic)
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='0.0')
+    y_pose = LaunchConfiguration('y_pose', default='0.0')
+
+    pkg_share_dir = get_package_share_directory('turtlebot3_gazebo')
+    world = os.path.join(pkg_share_dir, 'worlds', 'office_gz_dartsim.sdf')
+    models_path = os.path.join(pkg_share_dir, 'models')
+    office_models_path = os.path.join(models_path, 'turtlebot3_office')
+
+    # Headless mode: no GUI, no RVIZ
+    # gui_config = os.path.join(pkg_share_dir, 'gui', 'office_gui.config')
+    # gz_args = f'-r {world} --gui-config {gui_config}'
+    gz_args = f'-r -s {world}'
+    # gz_args = f'-r {world}'
+
+    gz_sim_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('ros_gz_sim'),
+                'launch',
+                'gz_sim.launch.py'
+            )
+        ),
+        launch_arguments={'gz_args': gz_args}.items()
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    # Fix LaserScan frame_id:
+    #   bridge publishes on /scan_raw (frame_id = 'burger/base_scan/hls_lfcd_lds')
+    #   this node republishes on /scan with corrected frame_id = 'base_scan'
+    scan_frame_fix_cmd = Node(
+        package='turtlebot3_gazebo',
+        executable='scan_frame_fix.py',
+        output='screen',
+        parameters=[{'use_sim_time': True}],
+    )
+
+    ld = LaunchDescription()
+
+    # Set GZ_SIM_RESOURCE_PATH so gz sim can resolve model:// URIs
+    ld.add_action(SetEnvironmentVariable(
+        name='GZ_SIM_RESOURCE_PATH',
+        value=office_models_path + os.pathsep + models_path
+    ))
+
+    # Add the commands to the launch description
+    ld.add_action(gz_sim_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+    ld.add_action(scan_frame_fix_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/launch/turtlebot3_world.launch.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Authors: Joep Tool
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
+    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    x_pose = LaunchConfiguration('x_pose', default='-2.0')
+    y_pose = LaunchConfiguration('y_pose', default='-0.5')
+
+    world = os.path.join(
+        get_package_share_directory('turtlebot3_gazebo'),
+        'worlds',
+        'turtlebot3_world.world'
+    )
+
+    gzserver_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
+        ),
+        launch_arguments={'world': world}.items()
+    )
+
+    gzclient_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
+        )
+    )
+
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
+        ),
+        launch_arguments={'use_sim_time': use_sim_time}.items()
+    )
+
+    spawn_turtlebot_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
+        ),
+        launch_arguments={
+            'x_pose': x_pose,
+            'y_pose': y_pose
+        }.items()
+    )
+
+    ld = LaunchDescription()
+
+    # Add the commands to the launch description
+    ld.add_action(gzserver_cmd)
+    ld.add_action(gzclient_cmd)
+    ld.add_action(robot_state_publisher_cmd)
+    ld.add_action(spawn_turtlebot_cmd)
+
+    return ld

src/turtlebot3_simulations/turtlebot3_gazebo/map/office_map.yaml

@@ -0,0 +1,7 @@
+image: office_map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-5.71, -2.68, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/materials/scripts/checker.material

@@ -0,0 +1,14 @@
+material checker
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture checker.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>checker</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/checker/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="checker">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.02 1 1</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
+            <name>checker</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/materials/scripts/course.material

@@ -0,0 +1,14 @@
+material course
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture course.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>course</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    A simple textured ground plane
+  </description>
+</model>
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/course/model.sdf

@@ -0,0 +1,41 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="course">
+    <static>true</static>
+    <link name="course_link">
+      <collision name="course_collision">
+        <geometry>
+          <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>100</mu>
+              <mu2>50</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="course_visual">
+        <cast_shadows>false</cast_shadows>
+        <geometry>
+	        <plane>
+            <normal>0 0 1</normal>
+            <size>4 4</size>
+          </plane>
+        </geometry>
+	      <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
+            <name>course</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/materials/scripts/traffic_bar.material

@@ -0,0 +1,14 @@
+material traffic_bar
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_bar.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.config

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_bar</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+    <name>Hyungyu Kim</name>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_bar/model.sdf

@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version="1.6">
+  <model name="traffic_bar">
+    <static>false</static>
+    <link name="traffic_bar">
+        <pose> 0 0 0 0 0 0</pose>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>0.3 0.02 0.05</size>
+            </box>
+         </geometry>
+        </collision>
+        <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.3 0.02 0.05</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
+            <name>traffic_bar</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
+    </plugin>   
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/materials/scripts/traffic_construction.material

@@ -0,0 +1,14 @@
+material traffic_construction
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_construction.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_construction</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_construction/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_construction">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
+            <name>traffic_construction</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/materials/scripts/traffic_intersection.material

@@ -0,0 +1,14 @@
+material traffic_intersection
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_intersection.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_intersection</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_intersection/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_intersection">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
+            <name>traffic_intersection</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/materials/scripts/traffic_is_left.material

@@ -0,0 +1,14 @@
+material traffic_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_left.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_left/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_left">
+    <static>true</static>
+    <link name="box">
+      <pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
+            <name>traffic_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/materials/scripts/traffic_light.material

@@ -0,0 +1,41 @@
+material traffic_light_red
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_red.png
+      }
+    }
+  }
+}
+
+material traffic_light_green
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_green.png
+      }
+    }
+  }
+}
+
+material traffic_light_yellow
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_light_yellow.png
+      }
+    }
+  }
+}

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.config

@@ -0,0 +1,13 @@
+<?xml version="1.0" ?>
+<model>
+    <name>traffic_light</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Ashekim</name>
+        <email>ashekim@robotis.com</email>
+        <name>Hyungyu Kim</name>
+        <email>kimhg@robotis.com</email>
+    </author>
+    <description>The traffic light.</description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_light/model.sdf

@@ -0,0 +1,32 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='traffic_light'>
+    <link name='traffic_light'>
+      <pose>0 0 0 0 0 0</pose>
+      <collision name='collision'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>   
+      </collision>
+      <visual name='visual'>
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
+            <name>traffic_light_red</name>
+          </script>
+        </material>
+      </visual>
+    </link>
+    <plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
+    </plugin>
+    <static>1</static>
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/materials/scripts/traffic_noentry.material

@@ -0,0 +1,14 @@
+material traffic_noentry
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_noentry.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_noentry</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_noentry/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_noentry">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
+            <name>traffic_noentry</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/materials/scripts/traffic_parking.material

@@ -0,0 +1,14 @@
+material traffic_parking
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_parking.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_parking</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_parking/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_parking">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
+            <name>traffic_parking</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/materials/scripts/traffic_pl_left.material

@@ -0,0 +1,14 @@
+material traffic_pl_left
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_pl_left.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_pl_left</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_pl_left/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_pl_left">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
+            <name>traffic_pl_left</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/materials/scripts/traffic_right.material

@@ -0,0 +1,14 @@
+material traffic_right
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_right.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_right</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_right/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_right">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
+            <name>traffic_right</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/materials/scripts/traffic_stop.material

@@ -0,0 +1,14 @@
+material traffic_stop
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture traffic_stop.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_stop</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Gilbert</name>
+    <email>kkjong@robotis.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_stop/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_stop">
+    <static>true</static>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
+            <name>traffic_stop</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/materials/scripts/tunnel.material

@@ -0,0 +1,14 @@
+material traffic_tunnel
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture tunnel.png
+      }
+    }
+  }
+}
+

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>traffic_tunnel</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+    <name>Hyunok Lee</name>
+    <email>hyunokhyunok@naver.com</email>
+  </author>
+
+  <description>
+    Model with links of simple shapes and texture applied.
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_autorace_2020/traffic_tunnel/model.sdf

@@ -0,0 +1,30 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="traffic_tunnel">
+    <pose>0 0 0.125 0 0 0</pose>
+    <link name="box">
+      <pose>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.12 0.025 0.25</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
+            <uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
+            <name>traffic_tunnel</name>
+          </script>
+        </material>
+      </visual>
+    </link>    
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model (copy).sdf

@@ -0,0 +1,424 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf

@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.config

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model.sdf

@@ -0,0 +1,530 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>6.0</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>realsense_link</child>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+    </joint>
+
+
+    <link name="realsense_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <collision name="collision">
+        <pose>0 0.047 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.008 0.130 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+
+      <sensor name="intel_realsense_r200_depth" type="depth">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_depth_camera">
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10</far>
+          </clip>
+        </camera>
+	        <plugin name="intel_realsense_r200_depth_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+              <!-- 
+              <argument>custom_camera/image_raw:=custom_camera/custom_image</argument>
+              <argument>custom_camera/image_depth:=custom_camera/custom_image_depth</argument>
+              <argument>custom_camera/camera_info:=custom_camera/custom_info_raw</argument>
+              <argument>custom_camera/camera_info_depth:=custom_camera/custom_info_depth</argument>
+              <argument>custom_camera/points:=custom_camera/custom_points</argument> 
+              -->
+            </ros>
+            <camera_name>intel_realsense_r200_depth</camera_name>
+            <frame_name>realsense_depth_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+            <min_depth>0.001</min_depth>
+          </plugin>
+      </sensor>
+
+      <sensor name="intel_realsense_r200_rgb" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+	      <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_rgb_camera">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+          <plugin name="intel_realsense_r200_rgb_driver" filename="libgazebo_ros_camera.so">
+            <ros>
+            <!--
+              <namespace>custom_ns</namespace>
+              <argument>image_raw:=custom_image</argument>
+              <argument>camera_info:=custom_info_raw</argument> 
+            -->
+            </ros>
+            <camera_name>intel_realsense_r200_rgb</camera_name>
+            <frame_name>realsense_rgb_frame</frame_name>
+            <hack_baseline>0.07</hack_baseline>
+          </plugin>
+      </sensor>
+    </link>  
+
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger/model_gz.sdf

@@ -0,0 +1,457 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <model name="turtlebot3_burger">
+    <pose>0 0 0 0 0 0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></x>
+            <y><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></y>
+            <z><noise type="gaussian"><mean>0</mean><stddev>2e-4</stddev></noise></z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></x>
+            <y><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></y>
+            <z><noise type="gaussian"><mean>0</mean><stddev>1.7e-2</stddev></noise></z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+      <!-- gpu_lidar sensor: parameters match original ray sensor -->
+      <sensor name="hls_lfcd_lds" type="gpu_lidar">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>5</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>6.283185307179586</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>1</samples>
+              <resolution>1</resolution>
+              <min_angle>0</min_angle>
+              <max_angle>0</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>6.0</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+      <!-- Preserved from original model.sdf -->
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="caster_back_link">
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="realsense_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0.047 0 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.008 0.130 0.022</size>
+          </box>
+        </geometry>
+      </collision>
+      <pose>0.076 0 0.093 0 0 0</pose>
+
+      <!-- Depth camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
+           Original plugin had: hack_baseline=0.07 (stereo baseline), min_depth=0.001
+           Note: hack_baseline is a Gazebo Classic plugin-specific param for stereo simulation;
+                 Gz Sim uses raycasting rendering so it is NOT needed here.
+           Note: min_depth is replaced by <clip><near>=0.02 for minimum sensing distance. -->
+      <sensor name="intel_realsense_r200_depth" type="depth">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_depth_camera">
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- L16 format: encodes depth as 16-bit uint (pixel value = depth in mm)
+                 This bypasses gz.msgs.DepthImage (unsupported in Humble ros_gz_bridge)
+                 and outputs standard gz.msgs.Image that can be bridged directly. -->
+            <format>L16</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>10</far>
+          </clip>
+        </camera>
+        <!-- Disable native DepthImage output to avoid topic conflict.
+             With this false, Gazebo only publishes /image (L16) instead of /depth_image
+             NOTE: <output_depth_image> removed — not valid SDF for Gz Sim Harmonic -->
+      </sensor>
+
+      <!-- RGB camera sensor - migrated from libgazebo_ros_camera.so to gz-sim native
+           Original plugin had: hack_baseline=0.07 (stereo baseline)
+           Note: Not applicable in Gz Sim native sensor (same reason as depth camera above). -->
+      <sensor name="intel_realsense_r200_rgb" type="camera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+	      <pose>0.076 0.0 0.093 0 0 0</pose>
+        <camera name="realsense_rgb_camera">
+          <horizontal_fov>1.02974</horizontal_fov>
+          <image>
+            <width>640</width>
+            <height>480</height>
+            <!-- <width>1920</width> -->
+            <!-- <height>1080</height> -->
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.02</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>1.79769e+308</upper>
+        </limit>
+      </axis>
+    </joint>
+
+    <joint name="caster_back_joint" type="ball">
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>realsense_link</child>
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+    </joint>
+
+    <!-- Diff Drive plugin: migrated from libgazebo_ros_diff_drive.so to gz-sim system -->
+    <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+      <frame_id>odom</frame_id>
+      <child_frame_id>base_footprint</child_frame_id>
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_radius>0.033</wheel_radius>
+      <odom_publish_frequency>30</odom_publish_frequency>
+      <!-- Original model.sdf had: max_wheel_torque=20, max_wheel_acceleration=1.0 -->
+      <max_linear_acceleration>1.0</max_linear_acceleration>
+      <min_linear_acceleration>-1.0</min_linear_acceleration>
+      <max_angular_acceleration>2.0</max_angular_acceleration>
+      <min_angular_acceleration>-2.0</min_angular_acceleration>
+      <!-- TurtleBot3 Burger typical max speeds -->
+      <max_linear_velocity>0.22</max_linear_velocity>
+      <min_linear_velocity>-0.22</min_linear_velocity>
+      <max_angular_velocity>2.84</max_angular_velocity>
+      <min_angular_velocity>-2.84</min_angular_velocity>
+    </plugin>
+
+    <!-- Joint State Publisher: migrated from libgazebo_ros_joint_state_publisher.so -->
+    <plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
+    </plugin>
+
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model-1_4.sdf

@@ -0,0 +1,408 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="turtlebot3_burger">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/lds.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/tire.dae</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>      
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.config

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>TurtleBot3(Burger_cam)</name>
+  <version>2.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <name>Hyungyu Kim</name>
+    <email>thlim@robotis.com</email>
+    <email>kimhg@robotis.com</email>
+  </author>
+
+  <description>
+    TurtleBot3 Burger
+  </description>
+</model>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger_cam/model.sdf

@@ -0,0 +1,495 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="turtlebot3_burger_cam">
+    <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+
+    <link name="base_footprint"/>
+
+    <link name="base_link">
+
+      <inertial>
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <inertia>
+          <ixx>7.2397393e-01</ixx>
+          <ixy>4.686399e-10</ixy>
+          <ixz>-1.09525703e-08</ixz>
+          <iyy>7.2397393e-01</iyy>
+          <iyz>2.8582649e-09</iyz>
+          <izz>6.53050163e-01</izz>
+        </inertia>
+        <mass>8.2573504e-01</mass>
+      </inertial>
+
+      <collision name="base_collision">
+        <pose>-0.032 0 0.070 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.140 0.140 0.140</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="base_visual">
+        <pose>-0.032 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.3 0.3 0.3 1.0</ambient>
+          <diffuse>0.3 0.3 0.3 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="imu_link">
+      <sensor name="tb3_imu" type="imu">
+        <always_on>true</always_on>
+        <update_rate>200</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+        <plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=imu</remapping>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="base_scan">
+      <inertial>
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.114</mass>
+      </inertial>
+
+      <collision name="lidar_sensor_collision">
+        <pose>-0.020 0 0.161 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0508</radius>
+            <length>0.055</length>
+          </cylinder>
+        </geometry>
+      </collision>
+
+      <visual name="lidar_sensor_visual">
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+
+      <sensor name="hls_lfcd_lds" type="ray">
+        <always_on>true</always_on>
+        <visualize>false</visualize>
+        <pose>-0.032 0 0.171 0 0 0</pose>
+        <update_rate>5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>360</samples>
+              <resolution>1.000000</resolution>
+              <min_angle>0.000000</min_angle>
+              <max_angle>6.280000</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.120000</min>
+            <max>3.5</max>
+            <resolution>0.015000</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
+          <ros>
+            <!-- <namespace>/tb3</namespace> -->
+            <remapping>~/out:=scan</remapping>
+          </ros>
+          <output_type>sensor_msgs/LaserScan</output_type>
+          <frame_name>base_scan</frame_name>
+        </plugin>
+      </sensor>
+    </link>
+
+    <link name="wheel_left_link">
+
+      <inertial>
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_left_collision">
+        <pose>0 0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_left_visual">
+        <pose>0 0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="wheel_right_link">
+
+      <inertial>
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <inertia>
+          <ixx>1.8158194e-03</ixx>
+          <ixy>-9.3392e-12</ixy>
+          <ixz>1.04909e-11</ixz>
+          <iyy>3.2922126e-03</iyy>
+          <iyz>5.75694e-11</iyz>
+          <izz>1.8158194e-03</izz>
+        </inertia>
+        <mass>2.8498940e-02</mass>
+      </inertial>
+
+      <collision name="wheel_right_collision">
+        <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.033</radius>
+            <length>0.018</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <!-- This friction pamareter don't contain reliable data!! -->
+          <friction>
+            <ode>
+              <mu>100000.0</mu>
+              <mu2>100000.0</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
+          </friction>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="wheel_right_visual">
+        <pose>0.0 -0.08 0.023 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
+            <scale>0.001 0.001 0.001</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.2 0.2 0.2 1.0</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name='caster_back_link'>
+      <pose>-0.081 0 -0.004 -1.57 0 0</pose>
+      <inertial>
+        <mass>0.005</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='collision'>
+        <geometry>
+          <sphere>
+            <radius>0.005000</radius>
+          </sphere>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+5</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+
+    <link name="camera_link">
+      <inertial>
+        <pose>0.076 0.0 0.093 0 0 0</pose>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0.000</ixy>
+          <ixz>0.000</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0.000</iyz>
+          <izz>0.001</izz>
+        </inertia>
+        <mass>0.035</mass>
+      </inertial>
+
+      <pose>0.076 0.0 0.093 0 0 0</pose>
+      <sensor name="camera" type="wideanglecamera">
+        <always_on>true</always_on>
+        <visualize>true</visualize>
+        <update_rate>30</update_rate>
+        <camera name="picam">
+          <horizontal_fov>3.183</horizontal_fov>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.03</near>
+            <far>100</far>
+          </clip>
+          <lens>
+            <type>custom</type>
+            <custom_function>
+              <c1>1.05</c1>
+              <c2>4</c2>
+              <f>1.0</f>
+              <fun>tan</fun>
+            </custom_function>
+            <scale_to_hfov>true</scale_to_hfov>
+            <cutoff_angle>3.1415</cutoff_angle>
+            <env_texture_size>512</env_texture_size>
+          </lens>
+        </camera>
+        <plugin name="camera_driver" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>30.0</updateRate>
+          <cameraName>camera</cameraName>
+          <frameName>camera_link</frameName>
+          <imageTopicName>image_raw</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <hackBaseline>0.07</hackBaseline>
+          <distortionK1>0.0</distortionK1>
+          <distortionK2>0.0</distortionK2>
+          <distortionK3>0.0</distortionK3>
+          <distortionT1>0.0</distortionT1>
+          <distortionT2>0.0</distortionT2>
+          <ros>
+          </ros>
+        </plugin>
+      </sensor>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+      <parent>base_footprint</parent>
+      <child>base_link</child>
+      <pose>0.0 0.0 0.010 0 0 0</pose>
+    </joint>
+
+    <joint name="wheel_left_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_left_link</child>
+      <pose>0.0 0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="wheel_right_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>wheel_right_link</child>
+      <pose>0.0 -0.08 0.023 -1.57 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name='caster_back_joint' type='ball'>
+      <parent>base_link</parent>
+      <child>caster_back_link</child>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>imu_link</child>
+      <pose>-0.032 0 0.068 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="lidar_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>base_scan</child>
+      <pose>-0.032 0 0.171 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <joint name="camera_joint" type="fixed">
+      <parent>base_link</parent>
+      <child>camera_link</child>
+      <pose>0.040 -0.000 0.110 0 0 0</pose>
+      <axis>
+        <xyz>0 0 1</xyz>
+      </axis>
+    </joint>
+
+    <plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
+
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+      </ros>
+
+      <update_rate>30</update_rate>
+
+      <!-- wheels -->
+      <left_joint>wheel_left_joint</left_joint>
+      <right_joint>wheel_right_joint</right_joint>
+
+      <!-- kinematics -->
+      <wheel_separation>0.160</wheel_separation>
+      <wheel_diameter>0.066</wheel_diameter>
+
+      <!-- limits -->
+      <max_wheel_torque>20</max_wheel_torque>
+      <max_wheel_acceleration>1.0</max_wheel_acceleration>
+
+      <command_topic>cmd_vel</command_topic>
+
+      <!-- output -->
+      <publish_odom>true</publish_odom>
+      <publish_odom_tf>true</publish_odom_tf>
+      <publish_wheel_tf>false</publish_wheel_tf>
+
+      <odometry_topic>odom</odometry_topic>
+      <odometry_frame>odom</odometry_frame>
+      <robot_base_frame>base_footprint</robot_base_frame>
+
+    </plugin>
+
+    <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
+      <ros>
+        <!-- <namespace>/tb3</namespace> -->
+        <remapping>~/out:=joint_states</remapping>
+      </ros>
+      <update_rate>30</update_rate>
+      <joint_name>wheel_left_joint</joint_name>
+      <joint_name>wheel_right_joint</joint_name>
+    </plugin>
+  </model>
+</sdf>

src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_common/meshes/burger_base.dae

@@ -0,0 +1,220 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771</authoring_tool>
+    </contributor>
+    <created>2020-06-29T17:10:17</created>
+    <modified>2020-06-29T17:10:17</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
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+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
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+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
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+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
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+          <soft sid="soft" type="float">3</soft>
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+          <area_shape sid="area_shape" type="int">1</area_shape>
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+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
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+            </emission>
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+            </diffuse>
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+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
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+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
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+        <triangles material="Material-material" count="12">
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+        <instance_geometry url="#Cube-mesh" name="Cube">
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