<?xml version="1.0" ?>
<robot name="atlascar2" version="1.0">
  <link name="base_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="2.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin xyz="1.7375 -0.8875000000000001 -0.235" rpy="0.0 0.0 1.5707963267948966"/>
      <geometry>
        <mesh filename="file:////home/nel/catkin_ws/src/calibration/robots/atlascar2/atlascar2_description/meshes/atlascar2_nowheels.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.52" rpy="0 0 0"/>
      <geometry>
        <box size="3.375 1.475 0.805"/>
      </geometry>
    </collision>
  </link>
  <link name="top_collision">
    <collision>
      <origin xyz="-0.49642857142857144 0.0 0.0" rpy="0 0 0"/>
      <geometry>
        <box size="1.7375 1.475 0.805"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_link_to_top_collision" type="fixed">
    <origin xyz="0.0 0.0 0.805" rpy="0.0 0.0 0.0"/>
    <parent link="base_link"/>
    <child link="top_collision"/>
  </joint>
  <link name="base_footprint">
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="1e-08"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0.0 0.0 0.285" rpy="0.0 0.0 0.0"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="top_right_camera">
    <inertial>
      <mass value="0.085"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.0754 0.029 0.035"/>
      </geometry>
      <material name="dark_grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.0754 0.029 0.035"/>
      </geometry>
    </collision>
  </link>
  <link name="top_right_camera_optical"/>
  <joint name="top_right_camera_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796"/>
    <parent link="top_right_camera"/>
    <child link="top_right_camera_optical"/>
  </joint>
  <gazebo reference="top_right_camera_optical">
    <material>Gazebo/Grey</material>
    <sensor name="top_right_camera" type="camera">
      <update_rate>120</update_rate>
      <camera name="top_right_camera">
        <pose>0 0 0 0 -1.5707 1.5707</pose>
        <horizontal_fov>1.0471975512</horizontal_fov>
        <image>
          <width>1272</width>
          <height>1016</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.5</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>120</updateRate>
        <cameraName>top_right_camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>top_right_camera_optical</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="{parent}_to_top_right_camera" type="fixed">
    <origin xyz="0.21158690691050583 -0.13727604263118007 1.4364246279607182" rpy="-0.0024063303358321524 0.4040570308520567 -0.0003147757863137287"/>
    <parent link="base_link"/>
    <child link="top_right_camera"/>
  </joint>
  <link name="top_left_camera">
    <inertial>
      <mass value="0.085"/>
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.0754 0.029 0.035"/>
      </geometry>
      <material name="dark_grey"/>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.0754 0.029 0.035"/>
      </geometry>
    </collision>
  </link>
  <link name="top_left_camera_optical"/>
  <joint name="top_left_camera_optical_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796"/>
    <parent link="top_left_camera"/>
    <child link="top_left_camera_optical"/>
  </joint>
  <gazebo reference="top_left_camera_optical">
    <material>Gazebo/Grey</material>
    <sensor name="top_left_camera" type="camera">
      <update_rate>120</update_rate>
      <camera name="top_left_camera">
        <pose>0 0 0 0 -1.5707 1.5707</pose>
        <horizontal_fov>1.0471975512</horizontal_fov>
        <image>
          <width>1272</width>
          <height>1016</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.5</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>120</updateRate>
        <cameraName>top_left_camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>top_left_camera_optical</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="{parent}_to_top_left_camera" type="fixed">
    <origin xyz="0.21419493952527835 0.30659181045784495 1.4331249046819734" rpy="-0.001948116340903319 0.4032289937350514 -0.001791364177842105"/>
    <parent link="base_link"/>
    <child link="top_left_camera"/>
  </joint>
  <joint name="top_laser_base_mount_joint" type="fixed">
    <origin xyz="0.0096123124101137 0.05790518447043458 1.4087013876390824" rpy="0.002668244276763151 -0.005884693286923353 -0.0006909246150046691"/>
    <parent link="base_link"/>
    <child link="top_laser_base_link"/>
  </joint>
  <link name="top_laser_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="top_laser_base_scan_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0377" rpy="0.0 0.0 0.0"/>
    <parent link="top_laser_base_link"/>
    <child link="top_laser"/>
  </joint>
  <link name="top_laser">
    <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="top_laser">
    <sensor name="top_laser-VLP16" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>10</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>top_laser/cloud</topicName>
        <frameName>top_laser</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>
  <link name="front_steer_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.05" length="0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_steer_joint" type="revolute">
    <origin xyz="1.2375 0.0 0.305" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="base_link"/>
    <child link="front_steer_link"/>
    <limit effort="15.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="5.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="front_steer_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_steer_joint_motor"/>
    <joint name="front_steer_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <gazebo reference="front_steer_link">
    <material>Gazebo/Yellow</material>
  </gazebo>
  <link name="rear_wheel_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.0028499999999999997" length="0.00145"/>
      </geometry>
    </collision>
  </link>
  <joint name="rear_wheel_joint" type="continuous">
    <origin xyz="-1.2375 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="base_link"/>
    <child link="rear_wheel_link"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="rear_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="rear_wheel_joint_motor"/>
    <joint name="rear_wheel_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="left_laser">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="1.1"/>
      <inertia ixx="0.00307156543804" ixy="0.0" ixz="0.0" iyy="0.0031284904152700005" iyz="0.0" izz="0.00196432421427"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://lms1xx/meshes/sick-lms1xx.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.05" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.105 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="left_laser">
    <turnGravityOff>true</turnGravityOff>
    <sensor name="left_laser" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>50</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-2.35619</min_angle>
            <max_angle>2.35619</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.1</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.001</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser">
        <topicName>/left_laser/scan</topicName>
        <frameName>left_laser</frameName>
        <robotNamespace>/</robotNamespace>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="{parent}_to_left_laser" type="fixed">
    <origin xyz="1.8575 0.76 0.37" rpy="0.0 0.0 0.7854"/>
    <parent link="base_link"/>
    <child link="left_laser"/>
  </joint>
  <link name="right_laser">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
      <mass value="1.1"/>
      <inertia ixx="0.00307156543804" ixy="0.0" ixz="0.0" iyy="0.0031284904152700005" iyz="0.0" izz="0.00196432421427"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://lms1xx/meshes/sick-lms1xx.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.05" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.105 0.1 0.1"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="right_laser">
    <turnGravityOff>true</turnGravityOff>
    <sensor name="right_laser" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>50</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-2.35619</min_angle>
            <max_angle>2.35619</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.1</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.001</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_laser">
        <topicName>/right_laser/scan</topicName>
        <frameName>right_laser</frameName>
        <robotNamespace>/</robotNamespace>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="{parent}_to_right_laser" type="fixed">
    <origin xyz="1.8575 -0.76 0.37" rpy="0.0 0.0 -0.7854"/>
    <parent link="base_link"/>
    <child link="right_laser"/>
  </joint>
  <link name="front_right_steer_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.05" length="0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_right_steer_joint" type="revolute">
    <origin xyz="1.2375 0.7375 0.305" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="base_link"/>
    <child link="front_right_steer_link"/>
    <limit effort="15.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="5.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_right_wheel_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:////home/nel/catkin_ws/src/calibration/robots/atlascar2/atlascar2_description/meshes/atlascar2_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
      <geometry>
        <cylinder radius="0.285" length="0.145"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_right_wheel_joint" type="continuous">
    <origin xyz="0.0 0.0 -0.305" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="front_right_steer_link"/>
    <child link="front_right_wheel_link"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="front_right_steer_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_right_steer_joint_motor"/>
    <joint name="front_right_steer_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="front_right_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_right_wheel_joint_motor"/>
    <joint name="front_right_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="front_left_steer_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <cylinder radius="0.05" length="0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_left_steer_joint" type="revolute">
    <origin xyz="1.2375 -0.7375 0.305" rpy="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="base_link"/>
    <child link="front_left_steer_link"/>
    <limit effort="15.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="5.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="front_left_wheel_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:////home/nel/catkin_ws/src/calibration/robots/atlascar2/atlascar2_description/meshes/atlascar2_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 1.5707963267948966"/>
      <geometry>
        <cylinder radius="0.285" length="0.145"/>
      </geometry>
    </collision>
  </link>
  <joint name="front_left_wheel_joint" type="continuous">
    <origin xyz="0.0 0.0 -0.305" rpy="-1.5707963267948966 0.0 1.5707963267948966"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="front_left_steer_link"/>
    <child link="front_left_wheel_link"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="front_left_steer_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_left_steer_joint_motor"/>
    <joint name="front_left_steer_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="front_left_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="front_left_wheel_joint_motor"/>
    <joint name="front_left_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="rear_right_wheel_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:////home/nel/catkin_ws/src/calibration/robots/atlascar2/atlascar2_description/meshes/atlascar2_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
      <geometry>
        <cylinder radius="0.285" length="0.145"/>
      </geometry>
    </collision>
  </link>
  <joint name="rear_right_wheel_joint" type="continuous">
    <origin xyz="-1.2875 0.7375 0.0" rpy="-1.5707963267948966 0.0 -1.5707963267948966"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="base_link"/>
    <child link="rear_right_wheel_link"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="rear_right_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="rear_right_wheel_joint_motor"/>
    <joint name="rear_right_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <link name="rear_left_wheel_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <mass value="0.3"/>
      <inertia ixx="0.02" ixy="0.0" ixz="0.0" iyy="0.002" iyz="0.0" izz="0.02"/>
    </inertial>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file:////home/nel/catkin_ws/src/calibration/robots/atlascar2/atlascar2_description/meshes/atlascar2_wheel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5707963267948966 0.0 1.5707963267948966"/>
      <geometry>
        <cylinder radius="0.285" length="0.145"/>
      </geometry>
    </collision>
  </link>
  <joint name="rear_left_wheel_joint" type="continuous">
    <origin xyz="-1.2875 -0.7375 0.0" rpy="-1.5707963267948966 0.0 1.5707963267948966"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="base_link"/>
    <child link="rear_left_wheel_link"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="rear_left_wheel_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="rear_left_wheel_joint_motor"/>
    <joint name="rear_left_wheel_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotSimType>steer_bot_hardware_gazebo/SteerBotHardwareGazebo</robotSimType>
    </plugin>
  </gazebo>
  <gazebo reference="base_footprint">
    <material>Gazebo/Purple</material>
  </gazebo>
</robot>