Thesis-Hector-VR/Hector_v2/Assets/Telemax/robot_description.urdf

<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /opt/hector/share/drz_telemax_description/urdf/drz_telemax_complete.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="drz_telemax">
  <!--TODO wenn Kamera auf Handgelenk gesteckt wird, aendern sich die Werte-->
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="LightBlack">
    <color rgba="0.25 0.25 0.25 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="Gray">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <material name="LightGray">
    <color rgba="0.9 0.9 0.9 1.0"/>
  </material>
  <material name="LightGray2">
    <color rgba="0.6 0.6 0.6 1.0"/>
  </material>
  <material name="DarkGray">
    <color rgba="0.5 0.5 0.5 1.0"/>
  </material>
  <material name="DarkGray2">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Orange">
    <color rgba="1.0 0.5 0.0 1.0"/>
  </material>
  <material name="Front">
    <color rgba="1.0 0.25 0.0 1.0"/>
  </material>
  <material name="Rear">
    <color rgba="0.0 0.5 1.0 1.0"/>
  </material>
  <!-- Measured from CAD file -->
  <!-- Measured from CAD file -->
  <link name="base_link"/>
  <joint name="chassis_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="chassis_link"/>
  </joint>
  <!-- robot chassis link -->
  <link name="chassis_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.05"/>
      <mass value="40"/>
      <inertia ixx="0.376333333333" ixy="0.0" ixz="0.0" iyy="1.54166666667" iyz="0.0" izz="1.65133333333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/maxpro_chassis.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.125 0.0 0.225"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/battery.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.105"/>
      <geometry>
        <box size="0.65 0.27 0.2"/>
      </geometry>
    </collision>
  </link>
  <joint name="flipper_front_left_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.205 0.17 0.085"/>
    <!--       <origin xyz="${0.205*front} 0 0.085"/> -->
    <axis xyz="0 1 0"/>
    <anchor xyz="0 0 0"/>
    <!--      <limit upper="${80.0/180.0*M_PI}" lower="${-M_PI/2}" velocity="0.262745098" effort="1000"/>-->
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="0.209439510239"/>
    <parent link="chassis_link"/>
    <child link="flipper_front_left_link"/>
  </joint>
  <link name="flipper_front_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.2485 0 0"/>
      <mass value="5"/>
      <inertia ixx="0.0138266666667" ixy="0.0" ixz="0.0" iyy="0.115247083333" iyz="0.0" izz="0.104420416667"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 3.14159265359 3.14159265359" xyz="0 -0.17 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/flipper.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <!-- *** Collision geometry ***-->
    <!-- Main wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.136"/>
      </geometry>
    </collision>
    <!-- Tip wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.497 0 0.051"/>
      <geometry>
        <cylinder length="0.06" radius="0.086"/>
      </geometry>
    </collision>
    <!-- Small wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.165 0 -0.0763"/>
      <geometry>
        <cylinder length="0.06" radius="0.0862"/>
      </geometry>
    </collision>
    <!-- Track between main wheel and small wheel -->
    <collision>
      <origin rpy="0 0.15 0" xyz="0.0674 0 -0.139"/>
      <geometry>
        <box size="0.174 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track between small wheel and tip wheel -->
    <collision>
      <origin rpy="0 -0.364 0" xyz="0.358 0 -0.085"/>
      <geometry>
        <box size="0.355 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track on top of the flipper -->
    <collision>
      <origin rpy="0 0 0" xyz="0.25 0 0.12665"/>
      <geometry>
        <box size="0.5 0.06 0.0187"/>
      </geometry>
    </collision>
  </link>
  <!--Needed for gazebo-->
  <transmission name="flipper_front_left_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="flipper_front_left_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="flipper_front_left_joint_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="flipper_front_right_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.205 -0.17 0.085"/>
    <!--       <origin xyz="${0.205*front} 0 0.085"/> -->
    <axis xyz="0 1 0"/>
    <anchor xyz="0 0 0"/>
    <!--      <limit upper="${80.0/180.0*M_PI}" lower="${-M_PI/2}" velocity="0.262745098" effort="1000"/>-->
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="0.209439510239"/>
    <parent link="chassis_link"/>
    <child link="flipper_front_right_link"/>
  </joint>
  <link name="flipper_front_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.2485 0 0"/>
      <mass value="5"/>
      <inertia ixx="0.0138266666667" ixy="0.0" ixz="0.0" iyy="0.115247083333" iyz="0.0" izz="0.104420416667"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 3.14159265359 3.14159265359" xyz="0 0.17 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/flipper.dae" scale="0.001 0.001 -0.001"/>
      </geometry>
    </visual>
    <!-- *** Collision geometry ***-->
    <!-- Main wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.136"/>
      </geometry>
    </collision>
    <!-- Tip wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.497 0 0.051"/>
      <geometry>
        <cylinder length="0.06" radius="0.086"/>
      </geometry>
    </collision>
    <!-- Small wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.165 0 -0.0763"/>
      <geometry>
        <cylinder length="0.06" radius="0.0862"/>
      </geometry>
    </collision>
    <!-- Track between main wheel and small wheel -->
    <collision>
      <origin rpy="0 0.15 0" xyz="0.0674 0 -0.139"/>
      <geometry>
        <box size="0.174 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track between small wheel and tip wheel -->
    <collision>
      <origin rpy="0 -0.364 0" xyz="0.358 0 -0.085"/>
      <geometry>
        <box size="0.355 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track on top of the flipper -->
    <collision>
      <origin rpy="0 0 0" xyz="0.25 0 0.12665"/>
      <geometry>
        <box size="0.5 0.06 0.0187"/>
      </geometry>
    </collision>
  </link>
  <!--Needed for gazebo-->
  <transmission name="flipper_front_right_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="flipper_front_right_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="flipper_front_right_joint_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="flipper_back_left_joint" type="revolute">
    <origin rpy="0 0 3.14159265359" xyz="-0.205 0.17 0.085"/>
    <!--       <origin xyz="${0.205*front} 0 0.085"/> -->
    <axis xyz="0 -1 0"/>
    <anchor xyz="0 0 0"/>
    <!--      <limit upper="${80.0/180.0*M_PI}" lower="${-M_PI/2}" velocity="0.262745098" effort="1000"/>-->
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="0.209439510239"/>
    <parent link="chassis_link"/>
    <child link="flipper_back_left_link"/>
  </joint>
  <link name="flipper_back_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.2485 0 0"/>
      <mass value="5"/>
      <inertia ixx="0.0138266666667" ixy="0.0" ixz="0.0" iyy="0.115247083333" iyz="0.0" izz="0.104420416667"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 3.14159265359 3.14159265359" xyz="0 0.17 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/flipper.dae" scale="0.001 0.001 -0.001"/>
      </geometry>
    </visual>
    <!-- *** Collision geometry ***-->
    <!-- Main wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.136"/>
      </geometry>
    </collision>
    <!-- Tip wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.497 0 0.051"/>
      <geometry>
        <cylinder length="0.06" radius="0.086"/>
      </geometry>
    </collision>
    <!-- Small wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.165 0 -0.0763"/>
      <geometry>
        <cylinder length="0.06" radius="0.0862"/>
      </geometry>
    </collision>
    <!-- Track between main wheel and small wheel -->
    <collision>
      <origin rpy="0 0.15 0" xyz="0.0674 0 -0.139"/>
      <geometry>
        <box size="0.174 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track between small wheel and tip wheel -->
    <collision>
      <origin rpy="0 -0.364 0" xyz="0.358 0 -0.085"/>
      <geometry>
        <box size="0.355 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track on top of the flipper -->
    <collision>
      <origin rpy="0 0 0" xyz="0.25 0 0.12665"/>
      <geometry>
        <box size="0.5 0.06 0.0187"/>
      </geometry>
    </collision>
  </link>
  <!--Needed for gazebo-->
  <transmission name="flipper_back_left_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="flipper_back_left_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="flipper_back_left_joint_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <joint name="flipper_back_right_joint" type="revolute">
    <origin rpy="0 0 3.14159265359" xyz="-0.205 -0.17 0.085"/>
    <!--       <origin xyz="${0.205*front} 0 0.085"/> -->
    <axis xyz="0 -1 0"/>
    <anchor xyz="0 0 0"/>
    <!--      <limit upper="${80.0/180.0*M_PI}" lower="${-M_PI/2}" velocity="0.262745098" effort="1000"/>-->
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="0.209439510239"/>
    <parent link="chassis_link"/>
    <child link="flipper_back_right_link"/>
  </joint>
  <link name="flipper_back_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.2485 0 0"/>
      <mass value="5"/>
      <inertia ixx="0.0138266666667" ixy="0.0" ixz="0.0" iyy="0.115247083333" iyz="0.0" izz="0.104420416667"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 3.14159265359 3.14159265359" xyz="0 -0.17 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/flipper.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <!-- *** Collision geometry ***-->
    <!-- Main wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.136"/>
      </geometry>
    </collision>
    <!-- Tip wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.497 0 0.051"/>
      <geometry>
        <cylinder length="0.06" radius="0.086"/>
      </geometry>
    </collision>
    <!-- Small wheel -->
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0.165 0 -0.0763"/>
      <geometry>
        <cylinder length="0.06" radius="0.0862"/>
      </geometry>
    </collision>
    <!-- Track between main wheel and small wheel -->
    <collision>
      <origin rpy="0 0.15 0" xyz="0.0674 0 -0.139"/>
      <geometry>
        <box size="0.174 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track between small wheel and tip wheel -->
    <collision>
      <origin rpy="0 -0.364 0" xyz="0.358 0 -0.085"/>
      <geometry>
        <box size="0.355 0.06 0.0187"/>
      </geometry>
    </collision>
    <!-- Track on top of the flipper -->
    <collision>
      <origin rpy="0 0 0" xyz="0.25 0 0.12665"/>
      <geometry>
        <box size="0.5 0.06 0.0187"/>
      </geometry>
    </collision>
  </link>
  <!--Needed for gazebo-->
  <transmission name="flipper_back_right_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="flipper_back_right_joint">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="flipper_back_right_joint_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- Base link gazebo properties TODO should this be chassis link?-->
  <!--  <gazebo reference="base_link">
    <mu1>0.0</mu1>
    <mu2>0.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
    </gazebo>-->
  <gazebo>
    <!-- Publish ground truth -->
    <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
      <alwaysOn>true</alwaysOn>
      <updateRate>50.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>ground_truth/state</topicName>
      <gaussianNoise>0.01</gaussianNoise>
      <frameName>world</frameName>
      <xyzOffsets>0 0 0</xyzOffsets>
      <rpyOffsets>0 0 0</rpyOffsets>
    </plugin>
    <!-- IMU plugin -->
    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
      <alwaysOn>true</alwaysOn>
      <updateRate>50.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>imu/data</topicName>
      <accelDrift>0.0 0.0 0.0</accelDrift>
      <accelGaussianNoise>0.1 0.1 0.1</accelGaussianNoise>
      <rateDrift>0.0 0.0 0.0</rateDrift>
      <rateGaussianNoise>0.05 0.05 0.05</rateGaussianNoise>
      <headingDrift>0.0</headingDrift>
      <headingGaussianNoise>0.05</headingGaussianNoise>
    </plugin>
  </gazebo>
  <gazebo reference="main_track_left_fixed_joint">
    <preserveFixedJoint>true</preserveFixedJoint>
  </gazebo>
  <gazebo reference="main_track_right_fixed_joint">
    <preserveFixedJoint>true</preserveFixedJoint>
  </gazebo>
  <gazebo reference="flipper_front_left_link">
    <!--      <mu1>0.0</mu1>
      <mu2>0.0</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>-->
  </gazebo>
  <gazebo reference="flipper_back_left_link">
    <!--      <mu1>0.0</mu1>
      <mu2>0.0</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>-->
  </gazebo>
  <gazebo reference="flipper_front_right_link">
    <!--      <mu1>0.0</mu1>
      <mu2>0.0</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>-->
  </gazebo>
  <gazebo reference="flipper_back_right_link">
    <!--      <mu1>0.0</mu1>
      <mu2>0.0</mu2>
      <kp>1000000.0</kp>
      <kd>100.0</kd>
      <minDepth>0.001</minDepth>
      <maxVel>1.0</maxVel>-->
  </gazebo>
  <gazebo>
    <plugin filename="libgazebo_ros_tracked_vehicle_plugin.so" name="multi_tracked_vehicle">
      <command_topic>/cmd_vel_raw</command_topic>
      <body>base_link</body>
      <left_track0>flipper_front_left_link</left_track0>
      <left_track1>flipper_back_left_link</left_track1>
      <right_track0>flipper_front_right_link</right_track0>
      <right_track1>flipper_back_right_link</right_track1>
      <track_mu>0.7</track_mu>
      <track_mu2>150</track_mu2>
      <tracks_separation>0.34</tracks_separation>
      <steering_efficiency>0.5</steering_efficiency>
      <max_linear_speed>1.0</max_linear_speed>
      <max_angular_speed>1.0</max_angular_speed>
    </plugin>
    <plugin filename="libkeys_to_cmd_vel_plugin.so" name="keyboard_control">
      <cmd_vel_topic>~/robot_description_gazebo/cmd_vel</cmd_vel_topic>
    </plugin>
  </gazebo>
  <gazebo>
    <!-- Gazebo ros control -->
    <plugin filename="libgazebo_ros_control_select_joints.so" name="gazebo_ros_control_select_joints">
      <robotNamespace>telemax_control</robotNamespace>
      <joints>arm_joint_0 arm_joint_1 arm_joint_2 arm_joint_3 arm_joint_4 arm_joint_5 gripper_joint flipper_front_left_joint flipper_front_right_joint flipper_back_left_joint flipper_back_right_joint</joints>
    </plugin>
  </gazebo>
  <joint name="manipulator_base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.225 0.0 0.24125"/>
    <parent link="base_link"/>
    <child link="manipulator_base_link"/>
  </joint>
  <link name="manipulator_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <mass value="1"/>
      <inertia ixx="6.66666666667e-05" ixy="0.0" ixz="0.0" iyy="6.66666666667e-05" iyz="0.0" izz="6.66666666667e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/manipulator_base_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_0" type="revolute">
    <parent link="manipulator_base_link"/>
    <child link="arm_link_0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="10000.0" lower="-3.66519142919" upper="3.66519142919" velocity="0.628318530718"/>
  </joint>
  <link name="arm_link_0">
    <inertial>
      <origin rpy="0 0 0" xyz="0.004 0.02135 0.126"/>
      <mass value="3"/>
      <inertia ixx="0.0181" ixy="0.0" ixz="0.0" iyy="0.023725" iyz="0.0" izz="0.025625"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_0.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <!-- Tower body -->
    <collision>
      <origin rpy="0 0 0" xyz="0.01 0.025 0.165"/>
      <geometry>
        <box size="0.25 0.2 0.18"/>
      </geometry>
    </collision>
    <!-- Tower cylinder -->
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.03"/>
      <geometry>
        <cylinder length="0.09" radius="0.075"/>
      </geometry>
    </collision>
    <!-- Ring at tower base -->
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.02" radius="0.1"/>
      </geometry>
    </collision>
    <!-- Antenna 1 -->
    <collision>
      <origin rpy="0 0 0" xyz="-0.115 0.09625 0.365"/>
      <geometry>
        <cylinder length="0.22" radius="0.01"/>
      </geometry>
    </collision>
    <!-- Antenna 2 -->
    <collision>
      <origin rpy="0 0 0" xyz="0.015 0.125 0.365"/>
      <geometry>
        <cylinder length="0.22" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_1" type="revolute">
    <parent link="arm_link_0"/>
    <child link="arm_link_1"/>
    <origin rpy="0 0 0" xyz="0.06 -0.0815 0.14"/>
    <axis xyz="0 1 0"/>
    <limit effort="10000.0" lower="-2.72271363311" upper="1.0471975512" velocity="0.314159265359"/>
  </joint>
  <link name="arm_link_1">
    <!--      <inertial>
        <origin xyz="${-0.066 + (0.066+0.089)/2} 0 0" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.33 0 0"/>
      <mass value="5"/>
      <inertia ixx="0.00533333333333" ixy="0.0" ixz="0.0" iyy="0.269333333333" iyz="0.0" izz="0.269333333333"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_1.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.01 -0.005 0"/>
      <geometry>
        <box size="0.16 0.08 0.110"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.26 -0.005 0"/>
      <geometry>
        <box size="0.36 0.08 0.08"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.56 -0.02 0"/>
      <geometry>
        <box size="0.35 0.085 0.13"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_2" type="revolute">
    <parent link="arm_link_1"/>
    <child link="arm_link_2"/>
    <origin rpy="0 0 0" xyz="0.67 0.081 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="10000.0" lower="-2.96705972839" upper="2.96705972839" velocity="0.628318530718"/>
  </joint>
  <link name="arm_link_2">
    <!--      <inertial>
        <origin xyz="${-0.04 + (0.04+0.04+0.1246)/2} ${0.0634 - (0.0634+0.12-0.08)/2} ${-0.04 + (0.04+0.05)/2}" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.01 0.01 0.01"/>
      <mass value="1"/>
      <inertia ixx="0.00350833333333" ixy="0.0" ixz="0.0" iyy="0.00375" iyz="0.0" izz="0.00350833333333"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.01 0.01 0.01"/>
      <geometry>
        <box size="0.15 0.14 0.15"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.11 0.0 0.0"/>
      <geometry>
        <box size="0.05 0.09 0.09"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_3" type="revolute">
    <parent link="arm_link_2"/>
    <child link="arm_link_3"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10000.0" lower="-3.66519142919" upper="3.66519142919" velocity="1.25663706144"/>
  </joint>
  <link name="arm_link_3">
    <!--      <inertial>
        <origin xyz="${0.494/2} ${0.0523 - 0.1195/2} 0" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.3 0.0 0.0"/>
      <mass value="3"/>
      <inertia ixx="0.00405" ixy="0.0" ixz="0.0" iyy="0.05265" iyz="0.0" izz="0.05265"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.3 0.0 0.0"/>
      <geometry>
        <box size="0.35 0.09 0.09"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.53 0.055 0"/>
      <geometry>
        <box size="0.25 0.045 0.09"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.46 0.01 0"/>
      <geometry>
        <box size="0.13 0.13 0.09"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_4" type="revolute">
    <parent link="arm_link_3"/>
    <child link="arm_link_4"/>
    <origin rpy="0 0 0" xyz="0.615 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="10000.0" lower="-2.26892802759" upper="2.26892802759" velocity="1.36135681656"/>
  </joint>
  <link name="arm_link_4">
    <!--      <inertial>
        <origin xyz="${-0.059 + 0.168/2} ${-0.046 + 0.076/2.0} ${-0.0367 + (0.0513+0.0367)/2}" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.025 -0.01 0.005"/>
      <mass value="1"/>
      <inertia ixx="0.00150833333333" ixy="0.0" ixz="0.0" iyy="0.00435" iyz="0.0" izz="0.00450833333333"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.025 -0.01 0.005"/>
      <geometry>
        <box size="0.21 0.1 0.09"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.0625 -0.00125 0.055"/>
      <geometry>
        <cylinder length="0.02" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_joint_5" type="continuous">
    <parent link="arm_link_4"/>
    <child link="arm_link_5"/>
    <origin rpy="0 0 0" xyz="0.12887 0.0 0.00065"/>
    <axis xyz="1 0 0"/>
    <limit effort="10000.0" velocity="1.29154364648"/>
  </joint>
  <link name="arm_link_5">
    <!--      <inertial>
        <origin xyz="${0.063/2} 0 ${-0.0525 + (0.0184+0.0525)/2}" rpy="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>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.036 0.0 0.0"/>
      <mass value="0.5"/>
      <inertia ixx="0.000901041666667" ixy="0.0" ixz="0.0" iyy="0.00031875" iyz="0.0" izz="0.00105104166667"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_link_5.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.036 0.0 0.0"/>
      <geometry>
        <box size="0.075 0.14 0.045"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.03 0.0 0.035"/>
      <geometry>
        <box size="0.045 0.045 0.045"/>
      </geometry>
    </collision>
  </link>
  <!-- Gripper -->
  <joint name="gripper_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="0" upper="0.2" velocity="0.02"/>
    <parent link="arm_link_5"/>
    <child link="gripper_servo_link"/>
  </joint>
  <link name="gripper_servo_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="4.16666666667e-06" ixy="0.0" ixz="0.0" iyy="4.16666666667e-06" iyz="0.0" izz="4.16666666667e-06"/>
    </inertial>
    <!--      <visual>
        <origin xyz="0 0.0 0.0" rpy="0.0 0.0 0.0" />
        <geometry>
          <cylinder length="0.01" radius="0.01" />
        </geometry>
      </visual>

      <collision>
        <origin xyz="0 0.0 0.0" rpy="0.0 0.0 0.0" />
        <geometry>
          <cylinder length="0.01" radius="0.01" />
        </geometry>
      </collision>-->
  </link>
  <joint name="left_finger_middle_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.035 0.039 0"/>
    <parent link="arm_link_5"/>
    <child link="left_finger_middle_link"/>
    <axis xyz="0 0 1"/>
    <mimic joint="gripper_joint" multiplier="5.1" offset="-0.12"/>
    <limit effort="1000" lower="-0.12" upper="1.02" velocity="1"/>
  </joint>
  <link name="left_finger_middle_link">
    <!--      <inertial>
        <origin xyz="${-0.04 + (0.04+0.04+0.1246)/2} ${0.0634 - (0.0634+0.12-0.08)/2} ${-0.04 + (0.04+0.05)/2}" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.05 0.01 0.0"/>
      <mass value="0.5"/>
      <inertia ixx="9.27083333333e-05" ixy="0.0" ixz="0.0" iyy="0.000842708333333" iyz="0.0" izz="0.000883333333333"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/finger_middle_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.05 0.01 0.0"/>
      <geometry>
        <box size="0.14 0.04 0.025"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_finger_end_joint" type="revolute">
    <parent link="left_finger_middle_link"/>
    <child link="left_finger_end_link"/>
    <origin rpy="0 0 0" xyz="0.110 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <mimic joint="gripper_joint" multiplier="-5.1" offset="0.12"/>
    <limit effort="1000" lower="-1.02" upper="0.12" velocity="1"/>
  </joint>
  <link name="left_finger_end_link">
    <!--      <inertial>
        <origin xyz="${-0.04 + (0.04+0.04+0.1246)/2} ${0.0634 - (0.0634+0.12-0.08)/2} ${-0.04 + (0.04+0.05)/2}" rpy="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>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.05 -0.01225 0.0"/>
      <mass value="0.5"/>
      <inertia ixx="6.90104166667e-05" ixy="0.0" ixz="0.0" iyy="0.000298177083333" iyz="0.0" izz="0.000304166666667"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/finger_end_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.05 -0.01225 0.0"/>
      <geometry>
        <box size="0.08 0.03 0.0275"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.06 0.03 0.0275"/>
      </geometry>
    </collision>
  </link>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_left_finger_middle_joint">
      <joint>gripper_joint</joint>
      <mimicJoint>left_finger_middle_joint</mimicJoint>
      <multiplier>5.1</multiplier>
      <offset>-0.12</offset>
      <maxEffort>4</maxEffort>
      <hasPID/>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_left_finger_end_joint">
      <joint>gripper_joint</joint>
      <mimicJoint>left_finger_end_joint</mimicJoint>
      <multiplier>-5.1</multiplier>
      <offset>0.12</offset>
      <maxEffort>4</maxEffort>
      <hasPID/>
    </plugin>
  </gazebo>
  <joint name="right_finger_middle_joint" type="revolute">
    <origin rpy="3.14159265359 0 0" xyz="0.035 -0.039 0"/>
    <parent link="arm_link_5"/>
    <child link="right_finger_middle_link"/>
    <axis xyz="0 0 1"/>
    <mimic joint="gripper_joint" multiplier="5.1" offset="-0.12"/>
    <limit effort="1000" lower="-0.12" upper="1.02" velocity="1"/>
  </joint>
  <link name="right_finger_middle_link">
    <!--      <inertial>
        <origin xyz="${-0.04 + (0.04+0.04+0.1246)/2} ${0.0634 - (0.0634+0.12-0.08)/2} ${-0.04 + (0.04+0.05)/2}" rpy="0 0 0"/>
        <mass value="1.0" />
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
      </inertial>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.05 0.01 0.0"/>
      <mass value="0.5"/>
      <inertia ixx="9.27083333333e-05" ixy="0.0" ixz="0.0" iyy="0.000842708333333" iyz="0.0" izz="0.000883333333333"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/finger_middle_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.05 0.01 0.0"/>
      <geometry>
        <box size="0.14 0.04 0.025"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_finger_end_joint" type="revolute">
    <parent link="right_finger_middle_link"/>
    <child link="right_finger_end_link"/>
    <origin rpy="0 0 0" xyz="0.110 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <mimic joint="gripper_joint" multiplier="-5.1" offset="0.12"/>
    <limit effort="1000" lower="-1.02" upper="0.12" velocity="1"/>
  </joint>
  <link name="right_finger_end_link">
    <!--      <inertial>
        <origin xyz="${-0.04 + (0.04+0.04+0.1246)/2} ${0.0634 - (0.0634+0.12-0.08)/2} ${-0.04 + (0.04+0.05)/2}" rpy="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>-->
    <inertial>
      <origin rpy="0 0 0" xyz="0.05 -0.01225 0.0"/>
      <mass value="0.5"/>
      <inertia ixx="6.90104166667e-05" ixy="0.0" ixz="0.0" iyy="0.000298177083333" iyz="0.0" izz="0.000304166666667"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/finger_end_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.05 -0.01225 0.0"/>
      <geometry>
        <box size="0.08 0.03 0.0275"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 -0.785398163397" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.06 0.03 0.0275"/>
      </geometry>
    </collision>
  </link>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_right_finger_middle_joint">
      <joint>gripper_joint</joint>
      <mimicJoint>right_finger_middle_joint</mimicJoint>
      <multiplier>5.1</multiplier>
      <offset>-0.12</offset>
      <maxEffort>4</maxEffort>
      <hasPID/>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_right_finger_end_joint">
      <joint>gripper_joint</joint>
      <mimicJoint>right_finger_end_joint</mimicJoint>
      <multiplier>-5.1</multiplier>
      <offset>0.12</offset>
      <maxEffort>4</maxEffort>
      <hasPID/>
    </plugin>
  </gazebo>
  <!-- Virtual TCP link -->
  <joint name="gripper_tcp_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.234 0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="arm_link_5"/>
    <child link="gripper_tcp_link"/>
  </joint>
  <link name="gripper_tcp_link">
    </link>
  <transmission name="arm_joint_0_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_0">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_0_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_0">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="arm_joint_1_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_1_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_1">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="arm_joint_2_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_2_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_2">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="arm_joint_3_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_3_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_3">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="arm_joint_4_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_4">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_4_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_4">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="arm_joint_5_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="arm_joint_5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="arm_joint_5_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="arm_joint_5">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <transmission name="gripper_joint_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="gripper_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="gripper_joint_joint_motor">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="gripper_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <joint name="autonomy_box_joint_fixed" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="-0.125 0.0 0.318"/>
    <parent link="chassis_link"/>
    <child link="autonomy_box_link"/>
  </joint>
  <link name="autonomy_box_link">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <visual>
      <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0 -0.055"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/autonomy_box.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.353 0.24 0.11"/>
      </geometry>
    </collision>
  </link>
  <joint name="imu_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.04 0.04 0.08"/>
    <parent link="autonomy_box_link"/>
    <child link="imu_link"/>
  </joint>
  <link name="imu_link">
    </link>
  <joint name="navigation_module_joint_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0265 0 0.0629"/>
    <parent link="autonomy_box_link"/>
    <child link="navigation_module_link"/>
  </joint>
  <link name="navigation_module_link">
    <!-- Plate -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.316 0.225 0.0062"/>
      </geometry>
      <material name="Gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.316 0.225 0.0062"/>
      </geometry>
      <material name="Gray"/>
    </collision>
    <!-- Protection Vertical Profiles -->
    <visual>
      <origin rpy="0 0 0" xyz="-0.14 0.1025 0.1626"/>
      <geometry>
        <box size="0.02 0.02 0.319"/>
      </geometry>
      <material name="Gray"/>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.14 -0.1025 0.1626"/>
      <geometry>
        <box size="0.02 0.02 0.319"/>
      </geometry>
      <material name="Gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.14 0.1025 0.1626"/>
      <geometry>
        <box size="0.02 0.02 0.319"/>
      </geometry>
      <material name="Gray"/>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.14 -0.1025 0.1626"/>
      <geometry>
        <box size="0.02 0.02 0.319"/>
      </geometry>
      <material name="Gray"/>
    </collision>
    <!-- Horizontal Profile -->
    <visual>
      <origin rpy="0 0 0" xyz="-0.14 0 0.3121"/>
      <geometry>
        <box size="0.02 0.225 0.02"/>
      </geometry>
      <material name="Gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.14 0 0.3121"/>
      <geometry>
        <box size="0.02 0.225 0.02"/>
      </geometry>
      <material name="Gray"/>
    </collision>
    <!-- Camera360 alu mount -->
    <visual>
      <origin rpy="0 0 0" xyz="-0.14 0 0.3446"/>
      <geometry>
        <box size="0.02 0.02 0.045 "/>
      </geometry>
      <material name="Gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.14 0 0.3446"/>
      <geometry>
        <box size="0.02 0.02 0.045 "/>
      </geometry>
      <material name="Gray"/>
    </collision>
  </link>
  <gazebo reference="navigation_module_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <joint name="realsense_d435_back_mount_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="-0.1601 0 0.2996"/>
    <parent link="navigation_module_link"/>
    <child link="realsense_d435_back_mount_link"/>
  </joint>
  <link name="realsense_d435_back_mount_link">
      </link>
  <joint name="realsense_d435_back_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0107 0.0175 0.0125"/>
    <parent link="realsense_d435_back_mount_link"/>
    <child link="realsense_d435_back_link"/>
  </joint>
  <link name="realsense_d435_back_link">
    <inertial>
      <mass value="0.072"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0042 -0.0175 0.0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/intel_realsense_d435/D435.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0083 -0.0175 0.0"/>
      <geometry>
        <!--Dimensions taken from https://click.intel.com/intelr-realsensetm-depth-camera-d435.html-->
        <box size="0.025 0.09 0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="realsense_d435_back_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="realsense_d435_back_link">
    <sensor name="realsense_d435_back" type="depth">
      <update_rate>20</update_rate>
      <camera>
        <horizontal_fov>1.21125850088</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.3</near>
          <far>9.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="realsense_d435_back_camera_controller">
        <cameraName>realsense_d435_back</cameraName>
        <imageTopicName>color/image_raw</imageTopicName>
        <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <frameName>realsense_d435_back_color_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="spin_lidar_joint_fixed" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="-0.1 0 0.2154"/>
    <parent link="navigation_module_link"/>
    <child link="spin_lidar_mount_link_fixed"/>
  </joint>
  <link name="spin_lidar_mount_link_fixed">
    </link>
  <joint name="spin_lidar_spin_joint" type="continuous">
    <origin rpy="0.0 0.0 0.0" xyz="-0.1 0 0.2154"/>
    <parent link="navigation_module_link"/>
    <child link="spin_lidar_mount_link"/>
    <axis xyz=" 0 0 1"/>
    <limit effort="1000" velocity="100"/>
    <joint_properties damping="500.0" friction="200.0"/>
  </joint>
  <link name="spin_lidar_mount_link">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 -0.21803"/>
      <geometry>
        <mesh filename="package://hector_components_description/meshes/autonomy_box/visionbox_lidar_mount_only.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Grey">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.1"/>
      <inertia ixx="9e-06" ixy="0.0" ixz="0.0" iyy="9e-06" iyz="0.0" izz="9e-06"/>
    </inertial>
  </link>
  <joint name="spin_lidar_laser_joint" type="fixed">
    <origin rpy="-2.62318 3.13398 3.14156" xyz="0.00266059 -0.00441927 0"/>
    <parent link="spin_lidar_mount_link"/>
    <child link="spin_lidar_laser_frame"/>
  </joint>
  <link name="spin_lidar_laser_frame">
    <inertial>
      <mass value="0.83"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.00088568387" ixy="0.0" ixz="0.0" iyy="0.00088568387" iyz="0.0" izz="0.00088568387"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.0378"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/vlp16/VLP16_base_1.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.0378"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/vlp16/VLP16_base_2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <visual>
      <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.0378"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/vlp16/VLP16_scan.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.00225"/>
      <geometry>
        <cylinder length="0.0717" radius="0.0516"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="spin_lidar_laser_frame">
    <sensor name="spin_lidar_laser-VLP16" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>10</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>512</samples>
            <resolution>1</resolution>
            <min_angle>-3.14159265359</min_angle>
            <max_angle>3.14159265359</max_angle>
          </horizontal>
          <vertical>
            <samples>8</samples>
            <resolution>1</resolution>
            <min_angle>-0.261799387799</min_angle>
            <max_angle>0.261799387799</max_angle>
          </vertical>
        </scan>
        <range>
          <min>0.1</min>
          <max>100</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>/spin_lidar/vlp16</topicName>
        <frameName>spin_lidar_laser_frame</frameName>
        <min_range>0.1</min_range>
        <max_range>100</max_range>
        <gaussianNoise>0.008</gaussianNoise>
      </plugin>
    </sensor>
  </gazebo>
  <transmission name="spin_lidar_spin_joint_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="spin_lidar_spin_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="spin_lidar_spin_joint_joint_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="spin_lidar_spin_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="spin_lidar_spin_joint">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo>
    <!-- ros_control plugin -->
    <plugin filename="libgazebo_ros_control_select_joints.so" name="gazebo_ros_control_select_joints">
      <robotNamespace>spin_lidar_control</robotNamespace>
      <joints>spin_lidar_spin_joint</joints>
    </plugin>
  </gazebo>
  <gazebo reference="spin_lidar_mount_link">
    <visual>
      <material>
        <ambient>0.1 0.1 0.1 1</ambient>
        <diffuse>0.48 0.48 0.48 1</diffuse>
        <emissive>0.237 0.237 0.237 1</emissive>
        <specular>0.8 0.8 0.8 1</specular>
      </material>
    </visual>
  </gazebo>
  <joint name="camera360_center_joint" type="fixed">
    <origin rpy="0 0 1.57" xyz="-0.14 0 0.3871 "/>
    <parent link="navigation_module_link"/>
    <child link="camera360_center_link"/>
  </joint>
  <link name="camera360_center_link">
    <!-- Sphere body -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="Grey">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.04"/>
      </geometry>
      <material name="Grey">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </collision>
    <!-- Cable -->
    <!--      <visual>
        <origin xyz="${visual_radius + cable_collision_length/2} 0 0" rpy="0 0 0"/>
        <geometry>
          <box size="${cable_collision_length} 0.03 0.03"/>
        </geometry>
        <material name="Grey">
          <color rgba="0.5 0.5 0.5 1"/>
        </material> 
      </visual>-->
    <collision>
      <origin rpy="0 0 0" xyz="0.036 0 0"/>
      <geometry>
        <box size="0.05 0.03 0.03"/>
      </geometry>
      <material name="Grey">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </collision>
  </link>
  <joint name="camera360_right_joint" type="fixed">
    <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 -0.01925392 0"/>
    <parent link="camera360_center_link"/>
    <child link="camera360_right_link"/>
  </joint>
  <link name="camera360_right_link"/>
  <joint name="camera360_right_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="camera360_right_link"/>
    <child link="camera360_right_optical_frame"/>
  </joint>
  <link name="camera360_right_optical_frame"/>
  <gazebo reference="camera360_right_link">
    <sensor name="camera360_right_camera_sensor" type="wideanglecamera">
      <update_rate>10</update_rate>
      <camera>
        <!--<horizontal_fov>${hfov * M_PI/180.0}</horizontal_fov>-->
        <horizontal_fov>3.14</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>1504</width>
          <height>1504</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>100</far>
        </clip>
        <lens>
          <!--
            Crashes gazebo on some machines, so revert for now
            <type>custom</type>
            <custom_function>
              <c1>2</c1>
              <c2>2</c2>
              <f>1.0</f>
              <fun>sin</fun>
            </custom_function>
            <cutoff_angle>${fov/2}</cutoff_angle>
            <env_texture_size>1024</env_texture_size>
            -->
          <type>stereographic</type>
          <scale_to_hfov>true</scale_to_hfov>
          <cutoff_angle>1.5707</cutoff_angle>
          <env_texture_size>512</env_texture_size>
        </lens>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera360_right_camera_controller">
        <cameraName>camera360/right</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>not_used</cameraInfoTopicName>
        <frameName>camera360_right_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="camera360_left_optical_joint" type="fixed">
    <origin rpy="3.1373499 -0.0021358 -3.1279404" xyz="0.00009742  0.00061696 -0.03850784"/>
    <parent link="camera360_right_optical_frame"/>
    <child link="camera360_left_optical_frame"/>
  </joint>
  <link name="camera360_left_optical_frame"/>
  <joint name="camera360_left_joint" type="fixed">
    <origin rpy="0 -1.57079632679 1.57079632679" xyz="0 0 0"/>
    <parent link="camera360_left_optical_frame"/>
    <child link="camera360_left_link"/>
  </joint>
  <link name="camera360_left_link"/>
  <gazebo reference="camera360_left_link">
    <sensor name="camera360_left_camera_sensor" type="wideanglecamera">
      <update_rate>10</update_rate>
      <camera>
        <!--<horizontal_fov>${hfov * M_PI/180.0}</horizontal_fov>-->
        <horizontal_fov>3.14</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>1504</width>
          <height>1504</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>100</far>
        </clip>
        <lens>
          <!--
            Crashes gazebo on some machines, so revert for now
            <type>custom</type>
            <custom_function>
              <c1>2</c1>
              <c2>2</c2>
              <f>1.0</f>
              <fun>sin</fun>
            </custom_function>
            <cutoff_angle>${fov/2}</cutoff_angle>
            <env_texture_size>1024</env_texture_size>
            -->
          <type>stereographic</type>
          <scale_to_hfov>true</scale_to_hfov>
          <cutoff_angle>1.5707</cutoff_angle>
          <env_texture_size>512</env_texture_size>
        </lens>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera360_left_camera_controller">
        <cameraName>camera360/left</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>not_used</cameraInfoTopicName>
        <frameName>camera360_left_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="arm_sensor_box_joint_fixed" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.025 -0.058 0.0"/>
    <parent link="arm_link_4"/>
    <child link="arm_sensor_box_link"/>
  </joint>
  <link name="arm_sensor_box_link">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 -0.003 0"/>
      <geometry>
        <mesh filename="package://drz_telemax_description/meshes/arm_sensor_box_cover.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.04 0.0"/>
      <geometry>
        <box size="0.21 0.09 0.13"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_thermal_cam_joint" type="fixed">
    <origin rpy="3.14159265359 0.0 0.0" xyz="0.09 -0.023 0.0"/>
    <parent link="arm_sensor_box_link"/>
    <child link="arm_thermal_cam_frame"/>
  </joint>
  <link name="arm_thermal_cam_frame">
    <inertial>
      <mass value="0.03"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.2e-06" ixy="0.0" ixz="0.0" iyy="1.2e-06" iyz="0.0" izz="1.2e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.029" radius="0.016"/>
      </geometry>
      <material name="DarkGrey">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="-0.02875 -0.004 0.0"/>
      <geometry>
        <box size="0.0285 0.0345 0.029 "/>
      </geometry>
      <material name="DarkGrey">
        <color rgba="0.3 0.3 0.3 1"/>
      </material>
    </visual>
  </link>
  <joint name="arm_thermal_cam_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="arm_thermal_cam_frame"/>
    <child link="arm_thermal_cam_optical_frame"/>
  </joint>
  <link name="arm_thermal_cam_optical_frame"/>
  <gazebo reference="arm_thermal_cam_frame">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="arm_thermal_cam_frame">
    <sensor name="thermal_camera_sensor" type="camera">
      <update_rate>9</update_rate>
      <camera>
        <horizontal_fov>0.872664625997</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>640</width>
          <height>512</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>10</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_thermal_camera.so" name="thermal_camera_controller">
        <alwaysOn>true</alwaysOn>
        <updateRate>9</updateRate>
        <cameraName>arm_thermal_cam</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>arm_thermal_cam_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="arm_rgbd_cam_mount_joint" type="fixed">
    <origin rpy="1.57079632679 0 0" xyz="0.0875 -0.053 0.00143"/>
    <parent link="arm_sensor_box_link"/>
    <child link="arm_rgbd_cam_mount_link"/>
  </joint>
  <link name="arm_rgbd_cam_mount_link">
      </link>
  <joint name="arm_rgbd_cam_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0107 0.0175 0.0125"/>
    <parent link="arm_rgbd_cam_mount_link"/>
    <child link="arm_rgbd_cam_link"/>
  </joint>
  <link name="arm_rgbd_cam_link">
    <inertial>
      <mass value="0.072"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.0042 -0.0175 0.0"/>
      <geometry>
        <mesh filename="package://hector_sensors_description/meshes/intel_realsense_d435/D435.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0083 -0.0175 0.0"/>
      <geometry>
        <!--Dimensions taken from https://click.intel.com/intelr-realsensetm-depth-camera-d435.html-->
        <box size="0.025 0.09 0.025"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="arm_rgbd_cam_link">
    <material>Gazebo/Grey</material>
  </gazebo>
  <gazebo reference="arm_rgbd_cam_link">
    <sensor name="arm_rgbd_cam" type="depth">
      <update_rate>20</update_rate>
      <camera>
        <horizontal_fov>1.21125850088</horizontal_fov>
        <image>
          <format>B8G8R8</format>
          <width>640</width>
          <height>480</height>
        </image>
        <clip>
          <near>0.3</near>
          <far>9.0</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_openni_kinect.so" name="arm_rgbd_cam_camera_controller">
        <cameraName>arm_rgbd_cam</cameraName>
        <imageTopicName>color/image_raw</imageTopicName>
        <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
        <depthImageTopicName>depth/image_raw</depthImageTopicName>
        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
        <pointCloudTopicName>depth/points</pointCloudTopicName>
        <frameName>arm_rgbd_cam_color_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="arm_wide_angle_cam_joint" type="fixed">
    <origin rpy="1.57079632679 0 0" xyz="0.095 -0.02133 -0.03768"/>
    <parent link="arm_sensor_box_link"/>
    <child link="arm_wide_angle_cam_link"/>
  </joint>
  <link name="arm_wide_angle_cam_link">
    <!--      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>
        <material name="Blue">
          <color rgba="0.0 0.0 0.8 1"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>
      </collision>-->
  </link>
  <joint name="arm_wide_angle_cam_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="arm_wide_angle_cam_link"/>
    <child link="arm_wide_angle_cam_optical_frame"/>
  </joint>
  <link name="arm_wide_angle_cam_optical_frame"/>
  <gazebo reference="arm_wide_angle_cam_link">
    <sensor name="arm_wide_angle_cam_camera_sensor" type="camera">
      <update_rate>5</update_rate>
      <camera>
        <horizontal_fov>2.26892802759</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>1920</width>
          <height>1080</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>100</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="arm_wide_angle_cam_camera_controller">
        <cameraName>arm_wide_angle_cam</cameraName>
        <imageTopicName>/arm_wide_angle_cam/image_raw</imageTopicName>
        <cameraInfoTopicName>/arm_wide_angle_cam/camera_info</cameraInfoTopicName>
        <frameName>arm_wide_angle_cam_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="arm_tele_cam_joint" type="fixed">
    <origin rpy="1.57079632679 0 0" xyz="0.09 -0.02133 0.03768"/>
    <parent link="arm_sensor_box_link"/>
    <child link="arm_tele_cam_link"/>
  </joint>
  <link name="arm_tele_cam_link">
    <!--      <inertial>
        <mass value="0.001" />
        <origin xyz="0 0 0" rpy="0 0 0" />
        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
      </inertial>
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>
        <material name="Blue">
          <color rgba="0.0 0.0 0.8 1"/>
        </material>
      </visual>
      <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <box size="0.01 0.01 0.01" />
        </geometry>
      </collision>-->
  </link>
  <joint name="arm_tele_cam_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
    <parent link="arm_tele_cam_link"/>
    <child link="arm_tele_cam_optical_frame"/>
  </joint>
  <link name="arm_tele_cam_optical_frame"/>
  <gazebo reference="arm_tele_cam_link">
    <sensor name="arm_tele_cam_camera_sensor" type="camera">
      <update_rate>1</update_rate>
      <camera>
        <horizontal_fov>0.698131700798</horizontal_fov>
        <image>
          <format>R8G8B8</format>
          <width>1920</width>
          <height>1080</height>
        </image>
        <clip>
          <near>0.01</near>
          <far>100</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="arm_tele_cam_camera_controller">
        <cameraName>arm_tele_cam</cameraName>
        <imageTopicName>/arm_tele_cam/image_raw</imageTopicName>
        <cameraInfoTopicName>/arm_tele_cam/camera_info</cameraInfoTopicName>
        <frameName>arm_tele_cam_optical_frame</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>