<?xml version="1.0" ?>
<robot name="larcc" version="1.0">
  <material name="Yellow">
    <color rgba="1.0 1.0 0.0 1.0"/>
  </material>
  <material name="Orange">
    <color rgba="1.0 0.4 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <link name="world"/>
  <link name="table"/>
  <joint name="world_to_table" type="fixed">
    <origin xyz="0.1 0.95 0.0" rpy="0.0 0.0 -1.5707963267948966"/>
    <parent link="world"/>
    <child link="table"/>
  </joint>
  <link name="tabletop_table">
    <inertial>
      <origin xyz="0.0 0.0 -0.015" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.015" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision name="base_link_collision">
      <origin xyz="0.0 0.0 -0.015" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="tabletop_table">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="table_to_tabletop_table" type="fixed">
    <origin xyz="0.0 0.0 0.795" rpy="0.0 0.0 0.0"/>
    <parent link="table"/>
    <child link="tabletop_table"/>
  </joint>
  <link name="leg1_table">
    <inertial>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.78"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.3975" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.779"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg1_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg1" type="fixed">
    <origin xyz="-0.43 0.605 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="table"/>
    <child link="leg1_table"/>
  </joint>
  <link name="leg2_table">
    <inertial>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.78"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.3975" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.779"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg2_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg2" type="fixed">
    <origin xyz="0.43 0.605 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="table"/>
    <child link="leg2_table"/>
  </joint>
  <link name="leg3_table">
    <inertial>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.78"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.3975" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.779"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg3_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg3" type="fixed">
    <origin xyz="0.43 -0.605 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="table"/>
    <child link="leg3_table"/>
  </joint>
  <link name="leg4_table">
    <inertial>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.3815" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.78"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.3975" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.02" length="0.779"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg4_table">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="table_to_leg4" type="fixed">
    <origin xyz="-0.43 -0.605 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="table"/>
    <child link="leg4_table"/>
  </joint>
  <link name="gantry"/>
  <joint name="world_to_gantry" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="world"/>
    <child link="gantry"/>
  </joint>
  <link name="gantry_gantry">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="gantry_gantry">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="gantry_to_gantry_gantry" type="fixed">
    <origin xyz="0.0 0.0 2.29" rpy="0.0 0.0 0.0"/>
    <parent link="gantry"/>
    <child link="gantry_gantry"/>
  </joint>
  <link name="leg1_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.045 0.045 1.1" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg1" type="fixed">
    <origin xyz="-1.91 1.4 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="gantry"/>
    <child link="leg1_gantry"/>
  </joint>
  <link name="leg2_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.045 0.045 1.1" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg2_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg2" type="fixed">
    <origin xyz="2.0 1.4 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="gantry"/>
    <child link="leg2_gantry"/>
  </joint>
  <link name="leg3_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.045 0.045 1.1" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg3_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg3" type="fixed">
    <origin xyz="2.0 -1.49 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="gantry"/>
    <child link="leg3_gantry"/>
  </joint>
  <link name="leg4_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="0.045 0.045 1.1" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg4" type="fixed">
    <origin xyz="-1.91 -1.49 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="gantry"/>
    <child link="leg4_gantry"/>
  </joint>
  <link name="bigbeam1_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="2.5 0.045 -0.045" rpy="0.0 1.5707963267948966 0.0"/>
      <geometry>
        <box size="0.09 0.09 5.0"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="bigbeam1_leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg1_gantry_to_bigbeam1" type="fixed">
    <origin xyz="-0.5 0.0 2.29" rpy="0.0 0.0 0.0"/>
    <parent link="leg1_gantry"/>
    <child link="bigbeam1_gantry"/>
  </joint>
  <link name="bigbeam2_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="2.5 0.045 -0.045" rpy="0.0 1.5707963267948966 0.0"/>
      <geometry>
        <box size="0.09 0.09 5.0"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="bigbeam2_leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg4_gantry_to_bigbeam2" type="fixed">
    <origin xyz="-0.5 0.0 2.29" rpy="0.0 0.0 0.0"/>
    <parent link="leg4_gantry"/>
    <child link="bigbeam2_gantry"/>
  </joint>
  <link name="smallbeam1_bigbeam1_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="-0.045 1.9 -0.045" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="smallbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam1" type="fixed">
    <origin xyz="0.59 -3.3449999999999998 0.09" rpy="0.0 0.0 0.0"/>
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam1_bigbeam1_gantry"/>
  </joint>
  <link name="smallbeam2_bigbeam1_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="-0.045 1.9 -0.045" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="smallbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam2" type="fixed">
    <origin xyz="4.5 -3.3449999999999998 0.09" rpy="0.0 0.0 0.0"/>
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam2_bigbeam1_gantry"/>
  </joint>
  <link name="rectangularbeam1_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="-0.045 1.5 -0.0225" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <box size="0.045 0.09 3.0"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="rectangularbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam1" type="fixed">
    <origin xyz="1.455 -2.8 0.0" rpy="0.0 1.5707963267948966 0.0"/>
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam1_gantry"/>
  </joint>
  <link name="rectangularbeam2_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="-0.045 1.5 -0.0225" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <box size="0.045 0.09 3.0"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="rectangularbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam2" type="fixed">
    <origin xyz="2.455 -2.8 0.0" rpy="0.0 1.5707963267948966 0.0"/>
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam2_gantry"/>
  </joint>
  <link name="rectangularbeam3_gantry">
    <inertial>
      <origin xyz="0.0 0.0 1.1440000000000001" rpy="0.0 0.0 0.0"/>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin xyz="-0.045 1.5 -0.0225" rpy="0.0 1.5707963267948966 1.5707963267948966"/>
      <geometry>
        <box size="0.045 0.09 3.0"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="rectangularbeam3_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam3" type="fixed">
    <origin xyz="3.455 -2.8 0.0" rpy="0.0 1.5707963267948966 0.0"/>
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam3_gantry"/>
  </joint>
  <joint name="lidar_1_base_mount_joint" type="fixed">
    <origin xyz="0.12635717116501724 1.4922824894616482 -0.0032285929690092034" rpy="-0.6315538459348449 1.1991114497591249 -0.19226874359989754"/>
    <parent link="rectangularbeam3_gantry"/>
    <child link="lidar_1_base_link"/>
  </joint>
  <link name="lidar_1_base_link">
    <inertial>
      <origin xyz="0.0 0.0 0.03585" rpy="0 0 0"/>
      <mass value="0.83"/>
      <inertia ixx="0.000908059425" ixy="0.0" ixz="0.0" iyy="0.000908059425" iyz="0.0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.03585" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.0516" length="0.0717"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_1_base_scan_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0377" rpy="0.0 0.0 0.0"/>
    <parent link="lidar_1_base_link"/>
    <child link="lidar_1"/>
  </joint>
  <link name="lidar_1">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.0377" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="lidar_1">
    <sensor name="lidar_1-VLP16" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_1/velodyne_points</topicName>
        <frameName>lidar_1</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="lidar_2_base_mount_joint" type="fixed">
    <origin xyz="0.05589939653873478 2.29645037651062 -0.021081686019897898" rpy="-1.5838383865967984 -0.010889059518626901 -0.9922356621236005"/>
    <parent link="rectangularbeam2_gantry"/>
    <child link="lidar_2_base_link"/>
  </joint>
  <link name="lidar_2_base_link">
    <inertial>
      <origin xyz="0.0 0.0 0.03585" rpy="0 0 0"/>
      <mass value="0.83"/>
      <inertia ixx="0.000908059425" ixy="0.0" ixz="0.0" iyy="0.000908059425" iyz="0.0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.03585" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.0516" length="0.0717"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_2_base_scan_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0377" rpy="0.0 0.0 0.0"/>
    <parent link="lidar_2_base_link"/>
    <child link="lidar_2"/>
  </joint>
  <link name="lidar_2">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.0377" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="lidar_2">
    <sensor name="lidar_2-VLP16" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_2/velodyne_points</topicName>
        <frameName>lidar_2</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="lidar_3_base_mount_joint" type="fixed">
    <origin xyz="0.03241911692483795 1.3108977719876256 -0.005575335882207996" rpy="-2.1356126395640658 0.18581906467307982 -1.2941696056138683"/>
    <parent link="rectangularbeam1_gantry"/>
    <child link="lidar_3_base_link"/>
  </joint>
  <link name="lidar_3_base_link">
    <inertial>
      <origin xyz="0.0 0.0 0.03585" rpy="0 0 0"/>
      <mass value="0.83"/>
      <inertia ixx="0.000908059425" ixy="0.0" ixz="0.0" iyy="0.000908059425" iyz="0.0" izz="0.0011049624"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
      </geometry>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.03585" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.0516" length="0.0717"/>
      </geometry>
    </collision>
  </link>
  <joint name="lidar_3_base_scan_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0377" rpy="0.0 0.0 0.0"/>
    <parent link="lidar_3_base_link"/>
    <child link="lidar_3"/>
  </joint>
  <link name="lidar_3">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 -0.0377" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
      </geometry>
    </visual>
  </link>
  <gazebo reference="lidar_3">
    <sensor name="lidar_3-VLP16" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>8</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>1875</samples>
            <resolution>1</resolution>
            <min_angle>-3.141592653589793</min_angle>
            <max_angle>3.141592653589793</max_angle>
          </horizontal>
          <vertical>
            <samples>16</samples>
            <resolution>1</resolution>
            <min_angle>-0.2617993877991494</min_angle>
            <max_angle> 0.2617993877991494</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.3</min>
          <max>131.0</max>
          <resolution>0.001</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_velodyne_laser.so" name="gazebo_ros_laser_controller">
        <topicName>/lidar_3/velodyne_points</topicName>
        <frameName>lidar_3</frameName>
        <organize_cloud>False</organize_cloud>
        <min_range>0.9</min_range>
        <max_range>130.0</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_1_joint" type="fixed">
    <origin xyz="2.97729421689476 -0.06820634057921245 -0.0004596416697220539" rpy="0.04854652183471232 0.5293748563976146 -1.3641401912629287"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_1_link"/>
  </joint>
  <link name="camera_1_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="4.9000000000000005e-06" ixy="0.0" ixz="0.0" iyy="4.9000000000000005e-06" iyz="0.0" izz="4.9000000000000005e-06"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="camera_1_depth_joint" type="fixed">
    <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_1_link"/>
    <child link="camera_1_depth_frame"/>
  </joint>
  <link name="camera_1_depth_frame"/>
  <joint name="camera_1_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_1_depth_frame"/>
    <child link="camera_1_depth_optical_frame"/>
  </joint>
  <link name="camera_1_depth_optical_frame"/>
  <joint name="camera_1_rgb_joint" type="fixed">
    <origin xyz="0.0 -0.0125 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_1_link"/>
    <child link="camera_1_rgb_frame"/>
  </joint>
  <link name="camera_1_rgb_frame"/>
  <joint name="camera_1_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_1_rgb_frame"/>
    <child link="camera_1_rgb_optical_frame"/>
  </joint>
  <link name="camera_1_rgb_optical_frame"/>
  <gazebo reference="camera_1_depth_frame">
    <sensor name="camera_1" type="depth">
      <update_rate>20</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_1_camera_controller">
        <imageTopicName>null</imageTopicName>
        <cameraInfoTopicName>null/camera_info</cameraInfoTopicName>
        <depthImageTopicName>camera_1/depth/image_raw</depthImageTopicName>
        <depthImageCameraInfoTopicName>camera_1/depth/camera_info</depthImageCameraInfoTopicName>
        <pointCloudTopicName>camera_1/depth/points</pointCloudTopicName>
        <frameName>camera_1_depth_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo reference="camera_1_rgb_frame">
    <sensor name="camera_1" type="camera">
      <update_rate>20.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_1}_rgb_camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>camera_1/rgb/image_raw</imageTopicName>
        <cameraInfoTopicName>camera_1/rgb/camera_info</cameraInfoTopicName>
        <frameName>camera_1_rgb_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_2_joint" type="fixed">
    <origin xyz="-0.1035833451576771 2.678263207007017 -0.03287713746838723" rpy="0.13034739527196504 0.46218854282303296 -2.290414421384297"/>
    <parent link="smallbeam2_bigbeam1_gantry"/>
    <child link="camera_2_link"/>
  </joint>
  <link name="camera_2_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.564"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257"/>
    </inertial>
    <visual>
      <origin xyz="-0.03 -0.06 0.0" rpy="3.141592653589793 0.0 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.01 -0.06 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.165 0.03"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="camera_2_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_2_rgb_joint" type="fixed">
    <origin xyz="0.0 -0.045 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_2_link"/>
    <child link="camera_2_rgb_frame"/>
  </joint>
  <link name="camera_2_rgb_frame"/>
  <joint name="camera_2_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_2_rgb_frame"/>
    <child link="camera_2_rgb_optical_frame"/>
  </joint>
  <link name="camera_2_rgb_optical_frame"/>
  <joint name="camera_2_depth_joint" type="fixed">
    <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_2_link"/>
    <child link="camera_2_depth_frame"/>
  </joint>
  <link name="camera_2_depth_frame"/>
  <joint name="camera_2_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_2_depth_frame"/>
    <child link="camera_2_depth_optical_frame"/>
  </joint>
  <link name="camera_2_depth_optical_frame"/>
  <gazebo reference="camera_2_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_2_camera_controller">
        <cameraName>camera_2</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <frameName>camera_2_rgb_optical_frame</frameName>
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_3_joint" type="fixed">
    <origin xyz="-0.218370035656236 2.236248893892438 0.08469916449070945" rpy="-0.10741175891954356 0.5982748050835286 -0.6166400817386026"/>
    <parent link="smallbeam1_bigbeam1_gantry"/>
    <child link="camera_3_link"/>
  </joint>
  <link name="camera_3_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.564"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257"/>
    </inertial>
    <visual>
      <origin xyz="-0.03 -0.06 0.0" rpy="3.141592653589793 0.0 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.01 -0.06 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.165 0.03"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="camera_3_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_3_rgb_joint" type="fixed">
    <origin xyz="0.0 -0.045 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_3_link"/>
    <child link="camera_3_rgb_frame"/>
  </joint>
  <link name="camera_3_rgb_frame"/>
  <joint name="camera_3_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_3_rgb_frame"/>
    <child link="camera_3_rgb_optical_frame"/>
  </joint>
  <link name="camera_3_rgb_optical_frame"/>
  <joint name="camera_3_depth_joint" type="fixed">
    <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_3_link"/>
    <child link="camera_3_depth_frame"/>
  </joint>
  <link name="camera_3_depth_frame"/>
  <joint name="camera_3_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_3_depth_frame"/>
    <child link="camera_3_depth_optical_frame"/>
  </joint>
  <link name="camera_3_depth_optical_frame"/>
  <gazebo reference="camera_3_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_3_camera_controller">
        <cameraName>camera_3</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <frameName>camera_3_rgb_optical_frame</frameName>
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera_4_joint" type="fixed">
    <origin xyz="2.5256192462515688 -0.048700312241339985 -0.020396464160987553" rpy="0.07748752679742352 0.6668206550008431 -1.4605379569766324"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_4_link"/>
  </joint>
  <link name="camera_4_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="0.564"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.00049894" iyz="0.0" izz="0.003879257"/>
    </inertial>
    <visual>
      <origin xyz="-0.03 -0.06 0.0" rpy="3.141592653589793 0.0 1.5707963267948966"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.01 -0.06 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.165 0.03"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="camera_4_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_4_rgb_joint" type="fixed">
    <origin xyz="0.0 -0.045 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_4_link"/>
    <child link="camera_4_rgb_frame"/>
  </joint>
  <link name="camera_4_rgb_frame"/>
  <joint name="camera_4_rgb_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_4_rgb_frame"/>
    <child link="camera_4_rgb_optical_frame"/>
  </joint>
  <link name="camera_4_rgb_optical_frame"/>
  <joint name="camera_4_depth_joint" type="fixed">
    <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="camera_4_link"/>
    <child link="camera_4_depth_frame"/>
  </joint>
  <link name="camera_4_depth_frame"/>
  <joint name="camera_4_depth_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <parent link="camera_4_depth_frame"/>
    <child link="camera_4_depth_optical_frame"/>
  </joint>
  <link name="camera_4_depth_optical_frame"/>
  <gazebo reference="camera_4_depth_frame">
    <sensor name="camera" type="depth">
      <always_on>true</always_on>
      <update_rate>8.0</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>1280</width>
          <height>800</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="camera_4_camera_controller">
        <cameraName>camera_4</cameraName>
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>rgb/image_raw</imageTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <frameName>camera_4_rgb_optical_frame</frameName>
        <baseline>0.1</baseline>
        <distortion_k1>0.0</distortion_k1>
        <distortion_k2>0.0</distortion_k2>
        <distortion_k3>0.0</distortion_k3>
        <distortion_t1>0.0</distortion_t1>
        <distortion_t2>0.0</distortion_t2>
        <pointCloudCutoff>0.4</pointCloudCutoff>
      </plugin>
    </sensor>
  </gazebo>
</robot>