<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from larcc_improved.urdf.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="larcc">
  <!-- ####################################### -->
  <!-- Arguments and propperties-->
  <!-- ####################################### -->
  <!--Args are local, properties are global, so we copy the values of the arguments to the properties-->
  <!--Properties are global so they can be viewed from inside the included xacros-->
  <!--  args are used with $(arg arg_name), properties are used as ${property_name}-->
  <!-- ####################################### -->
  <!-- Include files-->
  <!-- ####################################### -->
  <!--Read common properties from turtlebot3 and then add missing stuff-->
  <!--    <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>-->
  <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>
  <!--    <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_140_model_macro.xacro" />-->
  <!--    <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>-->
  <!-- Manipulator-->
  <!--    <xacro:include filename="$(find ur_gazebo)/urdf/ur_macro.xacro"/>-->
  <!-- ####################################### -->
  <!-- Declare links and joints -->
  <!-- ####################################### -->
  <link name="world"/>
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- table link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="table"/>
  <joint name="world_to_table" type="fixed">
    <parent link="world"/>
    <child link="table"/>
    <origin rpy="0 0 -1.5707963267948966" xyz="0.1 0.95 0"/>
  </joint>
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- tabletop link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="tabletop_table">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision name="base_link_collision">
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <geometry>
        <box size="0.9 1.25 0.015"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0 0 -0.015"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </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">
    <parent link="table"/>
    <child link="tabletop_table"/>
    <origin rpy="0 0 0" xyz="0 0 0.795"/>
  </joint>
  <link name="leg1_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </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">
    <parent link="table"/>
    <child link="leg1_table"/>
    <origin rpy="0 0 0" xyz="-0.43 0.605 0"/>
  </joint>
  <link name="leg2_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </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">
    <parent link="table"/>
    <child link="leg2_table"/>
    <origin rpy="0 0 0" xyz="0.43 0.605 0"/>
  </joint>
  <link name="leg3_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </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">
    <parent link="table"/>
    <child link="leg3_table"/>
    <origin rpy="0 0 0" xyz="0.43 -0.605 0"/>
  </joint>
  <link name="leg4_table">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <geometry>
        <cylinder length="0.78" radius="0.02"/>
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3975"/>
      <geometry>
        <cylinder length="0.779" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.3815"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </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">
    <parent link="table"/>
    <child link="leg4_table"/>
    <origin rpy="0 0 0" xyz="-0.43 -0.605 0"/>
  </joint>
  <!-- Place table 2 in the scene-->
  <!-- <xacro:table_macro name="table2" parent="world" width="${table2_width}"
                       length="${table2_length}" height="${table2_height}"
                       tabletop_thickness="${table_tabletop_thickness}" leg_radius="${table_leg_radius}">
        <origin xyz="0.1 ${gantry_length/2-table2_width/2-table_width} 0" rpy="0 0 ${-M_PI/2}"/>
    </xacro:table_macro> -->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!-- table link-->
  <!-- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="gantry"/>
  <joint name="world_to_gantry" type="fixed">
    <parent link="world"/>
    <child link="gantry"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!--         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <!--         top big beam link-->
  <!--         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%-->
  <link name="gantry_gantry">
    <!--            <visual>-->
    <!--                <origin xyz="0 0 ${-gantry_thickness}" rpy="0 0 0"/>-->
    <!--                <geometry>-->
    <!--                    <box size="${width} ${length} 0"/>-->
    <!--                </geometry>-->
    <!--                <material name="grey"/>-->
    <!--            </visual>-->
    <!--            <collision name="base_link_collision">-->
    <!--                <origin xyz="0 0 ${-gantry_thickness}" rpy="0 0 0"/>-->
    <!--                <geometry>-->
    <!--                    <box size="${width} ${length} ${gantry_thickness}"/>-->
    <!--                </geometry>-->
    <!--            </collision>-->
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
  </link>
  <gazebo reference="gantry_gantry">
    <material>Gazebo/Grey</material>
    <mu1>50.0</mu1>
    <mu2>50.0</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="gantry_to_gantry_gantry" type="fixed">
    <parent link="gantry"/>
    <child link="gantry_gantry"/>
    <origin rpy="0 0 0" xyz="0 0 2.29"/>
  </joint>
  <link name="leg1_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg1" type="fixed">
    <parent link="gantry"/>
    <child link="leg1_gantry"/>
    <origin rpy="0 0 0" xyz="-1.91 1.4 0"/>
  </joint>
  <link name="leg2_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg2_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg2" type="fixed">
    <parent link="gantry"/>
    <child link="leg2_gantry"/>
    <origin rpy="0 0 0" xyz="2.0 1.4 0"/>
  </joint>
  <link name="leg3_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg3_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg3" type="fixed">
    <parent link="gantry"/>
    <child link="leg3_gantry"/>
    <origin rpy="0 0 0" xyz="2.0 -1.49 0"/>
  </joint>
  <link name="leg4_gantry">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_2200.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.045 0.045 1.1"/>
      <geometry>
        <box size="0.09 0.09 2.2"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="gantry_to_leg4" type="fixed">
    <parent link="gantry"/>
    <child link="leg4_gantry"/>
    <origin rpy="0 0 0" xyz="-1.91 -1.49 0"/>
  </joint>
  <!--        <xacro:gantry_big_beam_macro name="bigbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius-1.1/2} ${length/2-0.09} ${height}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_big_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_big_beam_macro name="bigbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius-1.1/2} ${-length/2+0.09} ${height}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_big_beam_macro>-->
  <link name="bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="2.5 0.045 -0.045"/>
      <geometry>
        <box size="0.09 0.09 5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="bigbeam1_leg1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg1_gantry_to_bigbeam1" type="fixed">
    <parent link="leg1_gantry"/>
    <child link="bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="-0.5 0 2.29"/>
  </joint>
  <link name="bigbeam2_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_5000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 0" xyz="2.5 0.045 -0.045"/>
      <geometry>
        <box size="0.09 0.09 5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="bigbeam2_leg4_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="leg4_gantry_to_bigbeam2" type="fixed">
    <parent link="leg4_gantry"/>
    <child link="bigbeam2_gantry"/>
    <origin rpy="0 0 0" xyz="-0.5 0 2.29"/>
  </joint>
  <!--        <xacro:gantry_small_beam_macro name="smallbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${width/2-leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam1" parent="bigbeam1_gantry" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-width/2+leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <!--&lt;!&ndash;&ndash;&gt;-->
  <!--        <xacro:gantry_small_beam_macro name="smallbeam2" parent="bigbeam1_gantry" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${width/2-leg_radius+0.09} ${-length/2-0.5} ${height+0.09}" rpy="0 0 0"/>-->
  <!--        </xacro:gantry_small_beam_macro>-->
  <link name="smallbeam1_bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.9 -0.045"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="smallbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam1" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam1_bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="0.59 -3.3449999999999998 0.09"/>
  </joint>
  <link name="smallbeam2_bigbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_90x90_3800.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.9 -0.045"/>
      <geometry>
        <box size="0.09 0.09 3.8"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="smallbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_smallbeam2" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="smallbeam2_bigbeam1_gantry"/>
    <origin rpy="0 0 0" xyz="4.5 -3.3449999999999998 0.09"/>
  </joint>
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam1" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${1+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam2" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${0+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <!--        <xacro:gantry_retangular_beam_macro name="rectangularbeam3" parent="${name}" height="${height}" leg_radius="${leg_radius}" gantry_thickness="${gantry_thickness}">-->
  <!--            <origin xyz="${-1+0.045} ${-length/2-0.15} ${height}" rpy="0 ${M_PI/2} 0"/>-->
  <!--        </xacro:gantry_retangular_beam_macro>-->
  <link name="rectangularbeam1_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam1_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam1" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam1_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="1.455 -2.8 0"/>
  </joint>
  <link name="rectangularbeam2_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam2_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam2" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam2_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="2.455 -2.8 0"/>
  </joint>
  <link name="rectangularbeam3_gantry">
    <visual>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/minitec_45x90_3000.STL" scale="0.001 0.001 0.001"/>
        <!--                    <cylinder radius="${leg_radius}" length="${height-gantry_thickness}" />-->
      </geometry>
      <material name="grey"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="-0.045 1.5 -0.0225"/>
      <geometry>
        <box size="0.045 0.09 3"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 1.1440000000000001"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <gazebo reference="rectangularbeam3_bigbeam1_gantry">
    <material>Gazebo/Grey</material>
    <mu1>1000.0</mu1>
    <mu2>1000.0</mu2>
    <kp>10000000.0</kp>
    <kd>1.0</kd>
    <selfCollide>true</selfCollide>
  </gazebo>
  <joint name="bigbeam1_gantry_to_rectangularbeam3" type="fixed">
    <parent link="bigbeam1_gantry"/>
    <child link="rectangularbeam3_gantry"/>
    <origin rpy="0 1.5707963267948966 0" xyz="3.455 -2.8 0"/>
  </joint>
  <!--    &lt;!&ndash;      Manipulator&ndash;&gt;-->
  <!--    <xacro:ur_robot_gazebo-->
  <!--            prefix=""-->
  <!--            joint_limits_parameters_file="$(arg joint_limit_params)"-->
  <!--            kinematics_parameters_file="$(arg kinematics_params)"-->
  <!--            physical_parameters_file="$(arg physical_params)"-->
  <!--            visual_parameters_file="$(arg visual_params)"-->
  <!--            transmission_hw_interface="$(arg transmission_hw_interface)"-->
  <!--            safety_limits="$(arg safety_limits)"-->
  <!--            safety_pos_margin="$(arg safety_pos_margin)"-->
  <!--            safety_k_position="$(arg safety_k_position)"/>-->
  <!--    Place gripper-->
  <!-- <xacro:robotiq_arg2f_140 prefix=""/>

    <joint name="new_gripper_joint" type="fixed">
        <parent link="tool0"/>
        <child link="robotiq_arg2f_base_link"/>
        <origin xyz="0 0 0" rpy="0 0 1.5708"/>
    </joint> -->
  <!--    &lt;!&ndash;  Place robot on top of the table1&ndash;&gt;-->
  <!--    <joint name="tabletop_table_to_ur10e" type="fixed">-->
  <!--        <parent link="tabletop_table"/>-->
  <!--        <child link="base_link"/>-->
  <!--        <origin xyz="0.0 0.0 0.001" rpy="0.0 0.0 0.0"/>-->
  <!--    </joint>-->
  <!--    <xacro:VLP-16 name="lidar_1" parent="rectangularbeam3_gantry" topic="/lidar_1/velodyne_points" gpu="true">-->
  <!--        <origin xyz="1.955777406692505e-08 1.677582025527954 -0.07595625519752502"-->
  <!--                rpy="-1.4068863031624894 0.9304128095436818 -0.8782068835816081"/>-->
  <!--    </xacro:VLP-16>-->
  <!--    <xacro:VLP-16 name="lidar_2" parent="rectangularbeam2_gantry" topic="/lidar_2/velodyne_points" gpu="true">-->
  <!--        <origin xyz="0.055899396538734436 2.29645037651062 -0.02108168601989746"-->
  <!--                rpy="-1.5838383865967978 -0.010889059518626235 -0.9922356621235997"/>-->
  <!--    </xacro:VLP-16>-->
  <!--    <xacro:VLP-16 name="lidar_3" parent="rectangularbeam1_gantry" topic="/lidar_3/velodyne_points" gpu="true">-->
  <!--        <origin xyz="-0.042497698217630386 1.5332698822021484 0.08965662121772766"-->
  <!--                rpy="-1.9820141210538103 0.011203647336123805 -1.0491534231905575"/>-->
  <!--    </xacro:VLP-16>-->
  <!--    &lt;!&ndash;    CALIBRATED&ndash;&gt;-->
  <!--    <xacro:sensor_astra prefix="hand_camera" parent="flange" scale="0.48 0.66 0.5">-->
  <!--        <origin rpy="${M_PI} 0.0 0" xyz="-0.02 -0.06 -0.065"/>-->
  <!--    </xacro:sensor_astra>-->
  <joint name="camera_1_joint" type="fixed">
    <origin rpy="0 0.5235987755982988 -1.5707963267948966" xyz="2.8 0 -0.09"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_1_link"/>
  </joint>
  <link name="camera_1_link">
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <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 rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/kinect_camera/kinect_camera_simple.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="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 rpy="0 0 0" xyz="0.0 -0.02 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 rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
    <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 rpy="0 0 0" xyz="0.0 -0.0125 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 rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
    <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>
        <!--                    <pose>0 0 0 ${M_PI/2} ${-M_PI/2} 0</pose>-->
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</format>-->
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.10</near>
          <far>8.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_1}_rgb_camera_controller">
        <!-- <cameraName>${name}</cameraName> -->
        <alwaysOn>true</alwaysOn>
        <updateRate>0</updateRate>
        <imageTopicName>camera_1/rgb/image_raw</imageTopicName>
        <!--                    <depthImageTopicName>depth/image_raw</depthImageTopicName>-->
        <!--                    <pointCloudTopicName>depth/points</pointCloudTopicName>-->
        <cameraInfoTopicName>camera_1/rgb/camera_info</cameraInfoTopicName>
        <!--                    <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>-->
        <!--                    <frameName>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_1_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</frameName>-->
        <!-- Apparently this is not used-->
        <!-- <baseline>0.1</baseline> -->
        <!--                  <hackBaseline>2</hackBaseline>-->
        <!-- <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_2_joint" type="fixed">
    <origin rpy="0.016022853466738745 0.4975036324125581 -2.2477926358273677" xyz="-0.0899999737739563 2.5493040084838867 -0.10000000149011612"/>
    <parent link="smallbeam2_bigbeam1_gantry"/>
    <child link="camera_2_link"/>
  </joint>
  <link name="camera_2_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_2_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_2_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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 rpy="0 0 0" xyz="0 -0.02 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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>20</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</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>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_2_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</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 rpy="-0.07610853648541062 0.5950234751036887 -0.7551412632911726" xyz="0.09000001847743988 2.4310083389282227 -0.09000000357627869"/>
    <parent link="smallbeam1_bigbeam1_gantry"/>
    <child link="camera_3_link"/>
  </joint>
  <link name="camera_3_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_3_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_3_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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 rpy="0 0 0" xyz="0 -0.02 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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>20</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</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>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_3_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</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 rpy="0 0.5235987755982988 -1.5707963267948966" xyz="2.5 0 -0.09"/>
    <parent link="bigbeam1_gantry"/>
    <child link="camera_4_link"/>
  </joint>
  <link name="camera_4_link">
    <visual>
      <origin rpy="3.141592653589793 0 1.5707963267948966" xyz="-0.03 -0.06 0"/>
      <geometry>
        <mesh filename="package://larcc_description/meshes/sensors/astra2.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!--      <collision>-->
    <!--        &lt;!&ndash; <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> &ndash;&gt;-->
    <!--        <origin xyz="-0.01 -0.06 0" rpy="0 0 0"/>-->
    <!--        <geometry>-->
    <!--        <box size="0.0400 0.1650 0.0300"/>-->
    <!--      </geometry>-->
    <!--      </collision>-->
    <inertial>
      <mass value="0.564"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <gazebo reference="camera_4_link">
    <selfCollide>false</selfCollide>
  </gazebo>
  <joint name="camera_4_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.045 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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 rpy="0 0 0" xyz="0 -0.02 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 rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <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>20</update_rate>
      <camera>
        <horizontal_fov>1.0471975511965976</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <!--                      <format>RGB_INT8</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>${prefix}_depth_optical_frame</frameName>-->
        <frameName>camera_4_rgb_optical_frame</frameName>
        <!--                  <frameName>${prefix}_link</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>

