added files

.vscode/c_cpp_properties.json

@@ -0,0 +1,22 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/ros-laptop1/Desktop/ros2_ws/src/my_robot1_description/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,16 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/turtlesim_catch_them_all/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/turtlesim_catch_them_all/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}

README.md

@@ -0,0 +1,2 @@
+# Udemy Course 2
+This is my code and scripts from the udemy course I took [here](https://www.udemy.com/course/ros2-tf-urdf-rviz-gazebo). I was an amazing course and I would highly recommend it for getting an basic introduction to ROS 2.

my_robot1_bringup/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(my_robot1_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch rviz worlds
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

my_robot1_bringup/launch/my_robot1_gazebo.launch.xml

@@ -0,0 +1,17 @@
+<launch>
+    <let name="urdf_path" value="$(find-pkg-share my_robot1_description)/urdf/my_robot1.urdf.xacro"/>
+    <let name="rviz_config_path" value="$(find-pkg-share my_robot1_bringup)/rviz/urdf_config.rviz"/>
+
+    <node pkg="robot_state_publisher" exec="robot_state_publisher">
+       <param name="robot_description" value="$(command 'xacro $(var urdf_path)')"/>
+    </node>
+
+    <include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
+        <arg name="world" value="$(find-pkg-share my_robot1_bringup)/worlds/test_world.world.xml"/>
+    </include>
+
+    <node pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity my_robot1"/>
+
+    <node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
+
+</launch>

my_robot1_bringup/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_robot1_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="coolemail45@proton.me">ros-laptop1</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>my_robot1_description</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

my_robot1_bringup/rviz/urdf_config.rviz

@@ -0,0 +1,250 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /Camera1
+        - /Camera1/Visibility1
+      Splitter Ratio: 0.5
+    Tree Height: 176
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_link:
+          Value: true
+        caster_wheel_link:
+          Value: true
+        left_wheel_link:
+          Value: true
+        odom:
+          Value: true
+        right_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        odom:
+          base_footprint:
+            base_link:
+              camera_link:
+                {}
+              caster_wheel_link:
+                {}
+            left_wheel_link:
+              {}
+            right_wheel_link:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/Camera
+      Enabled: true
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera
+      Overlay Alpha: 0
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera_sensor/image_raw
+      Value: true
+      Visibility:
+        Grid: false
+        RobotModel: false
+        TF: false
+        Value: true
+      Zoom Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.442779302597046
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4553983211517334
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.16539859771728516
+    Saved: ~
+Window Geometry:
+  Camera:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1001
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000002cb00000323fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e000000ff000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000014e000002230000002e01000003000000010000011000000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004e00000323000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000003a30000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0

my_robot1_description/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.8)
+project(my_robot1_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY urdf launch rviz
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

my_robot1_description/launch/display.launch.py

@@ -0,0 +1,42 @@
+from launch import LaunchDescription
+import os
+from ament_index_python import get_package_share_directory
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    urdf_path = os.path.join(get_package_share_directory('my_robot1_description'), 'urdf', 'my_robot1.urdf.xacro')
+    robot_description = ParameterValue(Command(['xacro ', urdf_path]), value_type=str)
+
+    rviz_config_path = os.path.join(get_package_share_directory('my_robot1_description'), 'rviz', 'urdf_config.rviz')
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters = [{"robot_description": robot_description}]
+    )
+
+
+    joint_state_publisher_gui_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+
+
+    rviz2_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        arguments=['-d', rviz_config_path]
+    )
+
+
+
+
+    return LaunchDescription([
+        robot_state_publisher_node,
+        joint_state_publisher_gui_node,
+        rviz2_node
+    ])

my_robot1_description/launch/display.launch.xml

@@ -0,0 +1,12 @@
+<launch>
+    <let name="urdf_path" value="$(find-pkg-share my_robot1_description)/urdf/my_robot1.urdf.xacro"/>
+    <let name="rviz_config_path" value="$(find-pkg-share my_robot1_description)/rviz/urdf_config.rviz"/>
+
+    <node pkg="robot_state_publisher" exec="robot_state_publisher">
+       <param name="robot_description" value="$(command 'xacro $(var urdf_path)')"/>
+    </node>
+     
+    <node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
+
+    <node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
+</launch>

my_robot1_description/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>my_robot1_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="coolemail45@proton.me">ros-laptop1</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

my_robot1_description/rviz/urdf_config.rviz

@@ -0,0 +1,215 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 637
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        caster_wheel_link:
+          Value: true
+        left_wheel_link:
+          Value: true
+        right_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_footprint:
+          base_link:
+            caster_wheel_link:
+              {}
+            left_wheel_link:
+              {}
+            right_wheel_link:
+              {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.7850098609924316
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: -0.014601386152207851
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.6503971815109253
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1001
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000323fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000323000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004e00000323000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005040000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0

my_robot1_description/urdf/camera.xacro

@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="camera_length" value="0.01"/>
+    <xacro:property name="camera_width" value="0.1"/>
+    <xacro:property name="camera_height" value="0.05"/>
+
+
+    <link name="camera_link">
+       <visual>
+            <geometry>
+                <box size="${camera_length} ${camera_width} ${camera_height}"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <material name="gray" />
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${camera_length} ${camera_width} ${camera_height}"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+        </collision>
+        <xacro:box_inertia m="0.1" l="${camera_length}" w="${camera_width}" h="${camera_height}" xyz="0 0 0" rpy="0 0 0"/>
+    </link>
+
+    <joint name="base_camera_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="camera_link"/>
+        <origin xyz="${(base_length + camera_length)/ 2} 0 ${base_height/2}" rpy="0 0 0"/>
+    </joint>
+
+    <gazebo reference="camera_link">
+        <material>Gazebo/Red</material>
+        <sensor name="camera_sensor" type="camera">
+            <!-- x y z r p y-->
+            <pose>0 0 0 0 0 0</pose>
+            <!-- whether you can see projection in gazebo or not-->
+            <visualize>true</visualize>
+            <!-- update rate in hz-->
+            <update_rate>10.0</update_rate>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <!-- camera link -->
+                <frame_name>camera_link</frame_name>
+            </plugin>
+         </sensor>
+    </gazebo>
+
+</robot>

my_robot1_description/urdf/common_properties.xacro

@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+   <material name="blue">
+      <color rgba="0 0 0.5 1"/>
+   </material>
+
+   <material name="gray">
+      <color rgba="0.5 0.5 0.5 1.0"/>
+   </material>
+   <material name="orange">
+       <color rgba="0.95 0.647 0.388 1"/>
+   </material>
+
+   <material name="yellow">
+      <color rgba="0.95 1 0.388 1" />
+   </material>
+
+   <xacro:macro name="box_inertia" params="m l w h xyz rpy">
+      <inertial>
+         <mass value="${m}"/>
+         <origin xyz="${xyz}" rpy="${rpy}"/>
+         <inertia ixx="${(m/12) * (h*h + l*l)}" ixy="0" ixz="0"
+                  iyy="${(m/12) * (w*w + l*l)}" iyz="0"
+                  izz="${(m/12) * (w*w + h*h)}" />
+      </inertial>
+   </xacro:macro>
+
+   <xacro:macro name="cylinder_inertia" params="m r h xyz rpy">
+      <inertial>
+         <mass value="${m}"/>
+         <origin xyz="${xyz}" rpy="${rpy}"/>
+         <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy="0" ixz="0"
+                  iyy="${(m/12) * (3*r*r + h*h)}" iyz="0"
+                  izz="${(2/m) * (r*r)}" />
+      </inertial>
+    </xacro:macro>
+
+   <xacro:macro name="sphere_inertia" params="m r xyz rpy">
+      <inertial>
+         <mass value="${m}"/>
+         <origin xyz="${xyz}" rpy="${rpy}"/>
+         <inertia ixx="${(2/5) * m * r * r}" ixy="0" ixz="0"
+                  iyy="${(2/5) * m * r * r}" iyz="0"
+                  izz="${(2/5) * m * r * r}" />
+      </inertial>
+    </xacro:macro>
+
+</robot>

my_robot1_description/urdf/mobile_base.xacro

@@ -0,0 +1,107 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="base_length" value="0.6"/>
+    <xacro:property name="base_width" value="0.4"/>
+    <xacro:property name="base_height" value="0.2"/>
+    <xacro:property name="wheel_radius" value="0.1"/>
+    <xacro:property name="wheel_length" value="0.05"/>
+
+
+    <xacro:macro name="wheel_macro" params="prefix">
+        <link name="${prefix}_wheel_link">
+            <visual>
+                <geometry>
+                    <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+                </geometry>
+                <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0"/>
+                <material name="gray"/>
+            </visual>
+            <collision>
+                <geometry>
+                    <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
+                </geometry>
+                <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0"/>
+            </collision>
+            <xacro:cylinder_inertia m="1.0" r="${2*wheel_radius}" h="${2*wheel_length}"
+                                    xyz="0 0 0" rpy="${pi / 2.0} 0 0"/>
+        </link>
+    </xacro:macro>
+
+
+    <link name="base_footprint">
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </link>
+
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <box size="${base_length} ${base_width} ${base_height}"/>
+            </geometry>
+            <origin xyz="0 0 ${base_height/2.0}" rpy="0 0 0"/>
+            <material name="blue"/>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${base_length} ${base_width} ${base_height}"/>
+            </geometry>
+            <origin xyz="0 0 ${base_height/2.0}" rpy="0 0 0"/>
+        </collision>
+        <xacro:box_inertia m="5.0" l="${2*base_length}" w="${2*base_width}" h="${2*base_height}"
+                           xyz="0 0 ${base_height/2.0}" rpy="0 0 0"/>
+    </link>
+
+    <xacro:wheel_macro prefix="right" />
+    <xacro:wheel_macro prefix="left" />
+
+    <link name="caster_wheel_link">
+        <visual>
+            <geometry>
+                <sphere radius="${wheel_radius / 2.0}" />
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <material name="gray"/>
+        </visual>
+        <collision>
+            <geometry>
+                <sphere radius="${wheel_radius / 2.0}" />
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+        </collision>
+        <xacro:sphere_inertia m="0.5" r="${2*wheel_radius / 2.0}"
+                              xyz="0 0 0" rpy="0 0 0"/>
+    </link>
+
+    <joint name="base_joint" type="fixed">
+        <parent link="base_footprint" />
+        <child link="base_link" />
+        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0" />
+    </joint>
+
+    <joint name="base_left_wheel_joint" type="continuous">
+        <parent link="base_link" />
+        <child link="left_wheel_link" />
+        <origin xyz="${base_length / -4.0} ${base_width/2 + wheel_length/2} 0" rpy="0 0 0" />
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <joint name="base_right_wheel_joint" type="continuous">
+        <parent link="base_link" />
+        <child link="right_wheel_link" />
+        <origin xyz="${base_length / -4.0} -${base_width/2 + wheel_length/2} 0" rpy="0 0 0" />
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <joint name="base_caster_wheel_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="caster_wheel_link" />
+        <origin xyz="${base_length / 3.0} 0 -${wheel_radius / 2}" rpy="0 0 0" />
+    </joint>
+
+    <!-- Mount Arm -->
+    <joint name="base_arm_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="arm_base_link" />
+        <origin xyz="${(arm_base_width / -2) + (base_length / 2.0)} 0 ${base_height + (arm_base_height / 2)}" rpy="0 0 0" />
+    </joint>
+</robot>

my_robot1_description/urdf/mobile_base_gazebo.xacro

@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+   <gazebo reference="base_link">
+      <material>Gazebo/Blue</material>
+   </gazebo>
+
+   <gazebo reference="right_wheel_link">
+      <material>Gazebo/Gray</material>
+   </gazebo>
+
+   <gazebo reference="left_wheel_link">
+      <material>Gazebo/Gray</material>
+   </gazebo>
+   
+   <gazebo reference="caster_wheel_link">
+      <material>Gazebo/Gray</material>
+      <mu1 value="0.1" />
+      <mu2 value="0.1" />
+   </gazebo>
+
+
+   <gazebo>
+      <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
+         <!-- Update rate in Hz -->
+         <update_rate>50</update_rate>
+         <!-- Wheels -->
+         <left_joint>base_left_wheel_joint</left_joint>
+         <right_joint>base_right_wheel_joint</right_joint>
+         <!-- Size -->
+         <wheel_separation>${wheel_length + base_width}</wheel_separation>
+         <wheel_diameter>${wheel_radius}</wheel_diameter>
+         
+         <!-- Ros Topic -->
+         <command_topic>cmd_vel</command_topic>
+         <!-- output -->
+         <publish_odom>true</publish_odom>
+         <publish_odom_tf>true</publish_odom_tf>
+         <publish_wheel_tf>true</publish_wheel_tf>
+         <odometry_topic>odom</odometry_topic>
+         <odometry_frame>odom</odometry_frame>
+         <robot_base_frame>base_footprint</robot_base_frame>
+      </plugin>
+   </gazebo>
+
+
+   <!-- Arm -->
+   <gazebo reference="arm_base_link">
+      <material>Gazebo/Orange</material>
+   </gazebo>
+   <gazebo reference="forearm_link">
+      <material>Gazebo/Yellow</material>
+   </gazebo>
+   <gazebo reference="hand_link">
+      <material>Gazebo/Orange</material>
+   </gazebo>
+
+   <gazebo>
+      <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
+         <!-- Update rate in Hertz -->
+         <update_rate>10</update_rate>
+
+         <!-- Name of joints in the model whose states will be published. -->
+         <joint_name>arm_base_forearm_joint</joint_name>
+         <joint_name>forearm_hand_joint</joint_name>
+      </plugin>
+   </gazebo>
+   <gazebo>
+      <plugin name="joint_pose_trajectory" filename="libgazebo_ros_joint_pose_trajectory.so">
+         <update_rate>2</update_rate>
+      </plugin>
+   </gazebo>
+
+</robot>

my_robot1_description/urdf/my_robot1.urdf.xacro

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="my_robot1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="common_properties.xacro" />
+    <xacro:include filename="robot_arm.xacro" />
+    <xacro:include filename="mobile_base.xacro" />
+    <xacro:include filename="camera.xacro" />
+    <xacro:include filename="mobile_base_gazebo.xacro" />
+
+</robot>

my_robot1_description/urdf/robot_arm.xacro

@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="arm_base_length" value="0.1"/>
+    <xacro:property name="arm_base_width" value="0.1"/>
+    <xacro:property name="arm_base_height" value="0.02"/>
+
+    <xacro:property name="arm_radius" value="0.02"/>
+    <xacro:property name="arm_forearm_length" value="0.3"/>
+    <xacro:property name="arm_hand_length" value="0.3"/>
+
+    <link name="arm_base_link">
+        <visual>
+            <geometry>
+                <box size="${arm_base_length} ${arm_base_width} ${arm_base_height}"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${arm_base_length} ${arm_base_width} ${arm_base_height}"/>
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+        </collision>
+        <xacro:box_inertia m="0.5" l="${arm_base_length}" w="${arm_base_width}" h="${arm_base_height}"
+                           xyz="0 0 0" rpy="0 0 0"/>
+    </link>
+
+    <link name="forearm_link">
+        <visual>
+            <geometry>
+                <cylinder radius="${arm_radius}" length="${arm_forearm_length}"/>
+            </geometry>
+            <origin xyz="0 0 ${arm_forearm_length/2}" rpy="0 0 0"/>
+            <material name="yellow"/>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder radius="${arm_radius}" length="${arm_forearm_length}"/>
+            </geometry>
+            <origin xyz="0 0 ${arm_forearm_length/2}" rpy="0 0 0"/>
+        </collision>
+        <xacro:cylinder_inertia m="0.3" r="${arm_radius}" h="${arm_forearm_length}"
+                                xyz="0 0 ${arm_forearm_length/2}" rpy="0 0 0"/>
+    </link>
+
+
+    <link name="hand_link">
+        <visual>
+            <geometry>
+                <cylinder radius="${arm_radius}" length="${arm_hand_length}"/>
+            </geometry>
+            <origin xyz="0 0 ${arm_hand_length/2}" rpy="0 0 0"/>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder radius="${arm_radius}" length="${arm_hand_length}"/>
+            </geometry>
+            <origin xyz="0 0 ${arm_hand_length/2}" rpy="0 0 0"/>
+        </collision>
+        <xacro:cylinder_inertia m="0.3" r="${arm_radius}" h="${arm_hand_length}"
+                                xyz="0 0 ${arm_hand_length/2}" rpy="0 0 0"/>
+    </link>
+
+    <joint name="arm_base_forearm_joint" type="revolute">
+        <parent link="arm_base_link" />
+        <child link="forearm_link" />
+        <origin xyz="0 0 ${arm_base_height/2}" rpy="0 0 0" />
+        <axis xyz="0 1 0"/>
+        <limit lower="0" upper="${pi/2}" velocity="100" effort="100" />
+        <dynamics friction="0.05" damping="0.1" />
+    </joint>
+
+    <joint name="forearm_hand_joint" type="revolute">
+        <parent link="forearm_link" />
+        <child link="hand_link" />
+        <origin xyz="0 0 ${arm_hand_length}" rpy="0 0 0" />
+        <axis xyz="0 1 0"/>
+        <limit lower="0" upper="${pi/2}" velocity="100" effort="100" />
+        <dynamics friction="0.05" damping="0.1" />
+    </joint>
+
+</robot>

my_robot1_description/urdf_his/arm.xacro

@@ -0,0 +1,84 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="arm_base_length" value="0.1" />
+    <xacro:property name="arm_base_width" value="0.1" />
+    <xacro:property name="arm_base_height" value="0.02" />
+    <xacro:property name="forearm_radius" value="0.02" />
+    <xacro:property name="forearm_length" value="0.3" />
+    <xacro:property name="hand_radius" value="0.02" />
+    <xacro:property name="hand_length" value="0.3" />
+
+    <link name="arm_base_link">
+        <visual>
+            <geometry>
+                <box size="${arm_base_length} ${arm_base_width} ${arm_base_height}" />
+            </geometry>
+            <origin xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
+            <material name="orange" />
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${arm_base_length} ${arm_base_width} ${arm_base_height}" />
+            </geometry>
+            <origin xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
+        </collision>
+        <xacro:box_inertia m="0.5" l="${2*arm_base_length}" w="${2*arm_base_width}" h="${2*arm_base_height}" 
+                           xyz="0 0 ${arm_base_height / 2.0}" rpy="0 0 0" />
+    </link>
+
+    <link name="forearm_link">
+        <visual>
+            <geometry>
+                <cylinder radius="${forearm_radius}" length="${forearm_length}" />
+            </geometry>
+            <origin xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
+            <material name="yellow" />
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder radius="${forearm_radius}" length="${forearm_length}" />
+            </geometry>
+            <origin xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
+        </collision>
+        <xacro:cylinder_inertia m="0.3" r="${2*forearm_radius}" h="${2*forearm_length}"
+                                xyz="0 0 ${forearm_length / 2.0}" rpy="0 0 0" />
+    </link>
+
+    <link name="hand_link">
+        <visual>
+            <geometry>
+                <cylinder radius="${hand_radius}" length="${hand_length}" />
+            </geometry>
+            <origin xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
+            <material name="orange" />
+        </visual>
+        <collision>
+             <geometry>
+                <cylinder radius="${hand_radius}" length="${hand_length}" />
+            </geometry>
+            <origin xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
+        </collision>
+        <xacro:cylinder_inertia m="0.3" r="${2*hand_radius}" h="${2*hand_length}"
+                                xyz="0 0 ${hand_length / 2.0}" rpy="0 0 0" />
+    </link>
+
+    <joint name="arm_base_forearm_joint" type="revolute">
+        <parent link="arm_base_link" />
+        <child link="forearm_link" />
+        <origin xyz="0 0 ${arm_base_height}" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="${pi/2}" effort="100" velocity="100" />
+        <dynamics friction="0.05" damping="0.1" />
+    </joint>
+
+    <joint name="forearm_hand_joint" type="revolute">
+        <parent link="forearm_link" />
+        <child link="hand_link" />
+        <origin xyz="0 0 ${forearm_length}" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="${pi/2}" effort="100" velocity="100" />
+        <dynamics friction="0.05" damping="0.1" />
+    </joint>
+
+</robot>

my_robot1_description/urdf_his/arm_gazebo.xacro

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <gazebo reference="arm_base_link">
+        <material>Gazebo/Orange</material>
+    </gazebo>
+
+    <gazebo reference="forearm_link">
+        <material>Gazebo/Yellow</material>
+    </gazebo>
+    
+    <gazebo reference="hand_link">
+        <material>Gazebo/Orange</material>
+    </gazebo>
+
+    <gazebo>
+        <plugin name="joint_state_publisher_controller"
+                filename="libgazebo_ros_joint_state_publisher.so">
+            <!-- Update rate in Hertz -->
+            <update_rate>10</update_rate>
+            <!-- Name of joints in the model whose states will be published. -->
+            <joint_name>arm_base_forearm_joint</joint_name>
+            <joint_name>forearm_hand_joint</joint_name>
+        </plugin>
+    </gazebo>
+
+    <gazebo>
+        <plugin name="joint_pose_trajectory_controller"
+                filename="libgazebo_ros_joint_pose_trajectory.so">
+            <!-- Update rate in Hz -->
+            <update_rate>2</update_rate>
+        </plugin>
+    </gazebo>
+
+</robot>

my_robot1_description/urdf_his/camera.xacro

@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="camera_length" value="0.01" />
+    <xacro:property name="camera_width" value="0.1" />
+    <xacro:property name="camera_height" value="0.05" />
+
+    <link name="camera_link">
+        <visual>
+            <geometry>
+                <box size="${camera_length} ${camera_width} ${camera_height}" />
+            </geometry>
+            <material name="grey" />
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${camera_length} ${camera_width} ${camera_height}" />
+            </geometry>
+        </collision>
+        <xacro:box_inertia m="0.1" l="${camera_length}" w="${camera_width}" h="${camera_height}"
+                           xyz="0 0 0" rpy="0 0 0" />
+    </link>
+
+    <joint name="base_camera_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="camera_link" />
+        <origin xyz="${(base_length + camera_length) / 2.0} 0 ${base_height / 2.0}" rpy="0 0 0" />
+    </joint>
+
+    <link name="camera_link_optical">
+    </link>
+
+    <joint name="camera_optical_joint" type="fixed">
+        <!-- these values have to be these values otherwise the gazebo camera
+            image won't be aligned properly with the frame it is supposedly
+            originating from -->
+        <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
+        <parent link="camera_link"/>
+        <child link="camera_link_optical"/>
+    </joint>
+
+    <gazebo reference="camera_link">
+        <material>Gazebo/Red</material>
+        <sensor name="camera_sensor" type="camera">
+            <pose>0 0 0 0 0 0</pose>
+            <visualize>true</visualize>
+            <update_rate>10.0</update_rate>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <frame_name>camera_link_optical</frame_name>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+</robot>

my_robot1_description/urdf_his/common_properties.xacro

@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    
+    <material name="blue">
+        <color rgba="0 0 0.5 1" />
+    </material>
+
+    <material name="grey">
+        <color rgba="0.5 0.5 0.5 1" />
+    </material>
+
+    <material name="orange">
+        <color rgba="1.0 0.5 0 1" />
+    </material>
+
+    <material name="yellow">
+        <color rgba="1.0 1.0 0 1" />
+    </material>
+
+    <xacro:macro name="box_inertia" params="m l w h xyz rpy">
+        <inertial>
+            <origin xyz="${xyz}" rpy="${rpy}" />
+            <mass value="${m}" />
+            <inertia ixx="${(m/12) * (h*h + l*l)}" ixy="0" ixz="0"
+                     iyy="${(m/12) * (w*w + l*l)}" iyz="0"
+                     izz="${(m/12) * (w*w + h*h)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="cylinder_inertia" params="m r h xyz rpy">
+        <inertial>
+            <origin xyz="${xyz}" rpy="${rpy}" />
+            <mass value="${m}" />
+            <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy="0" ixz="0"
+                     iyy="${(m/12) * (3*r*r + h*h)}" iyz="0"
+                     izz="${(m/2) * (r*r)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="sphere_inertia" params="m r xyz rpy">
+        <inertial>
+            <origin xyz="${xyz}" rpy="${rpy}" />
+            <mass value="${m}" />
+            <inertia ixx="${(2/5) * m * r * r}" ixy="0" ixz="0"
+                     iyy="${(2/5) * m * r * r}" iyz="0"
+                     izz="${(2/5) * m * r * r}" />
+        </inertial>
+    </xacro:macro>
+
+</robot>

my_robot1_description/urdf_his/mobile_base.xacro

@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:property name="base_length" value="0.6" />
+    <xacro:property name="base_width" value="0.4" />
+    <xacro:property name="base_height" value="0.2" />
+    <xacro:property name="wheel_radius" value="0.1" />
+    <xacro:property name="wheel_length" value="0.05" />
+
+    <link name="base_footprint" />
+
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <box size="${base_length} ${base_width} ${base_height}" />
+            </geometry>
+            <origin xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
+            <material name="blue" />
+        </visual>
+        <collision>
+            <geometry>
+                <box size="${base_length} ${base_width} ${base_height}" />
+            </geometry>
+            <origin xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
+        </collision>
+        <xacro:box_inertia m="5.0" l="${2*base_length}" w="${2*base_width}" h="${2*base_height}"
+                           xyz="0 0 ${base_height / 2.0}" rpy="0 0 0" />
+    </link>
+
+    <xacro:macro name="wheel_link" params="prefix">
+        <link name="${prefix}_wheel_link">
+            <visual>
+                <geometry>
+                    <cylinder radius="${wheel_radius}" length="${wheel_length}" />
+                </geometry>
+                <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
+                <material name="grey" />
+            </visual>
+            <collision>
+                <geometry>
+                    <cylinder radius="${wheel_radius}" length="${wheel_length}" />
+                </geometry>
+                <origin xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
+            </collision>
+            <xacro:cylinder_inertia m="1.0" r="${2*wheel_radius}" h="${2*wheel_length}" 
+                                    xyz="0 0 0" rpy="${pi / 2.0} 0 0" />
+        </link>
+    </xacro:macro>
+
+    <xacro:wheel_link prefix="right" />
+    <xacro:wheel_link prefix="left" />
+
+    <link name="caster_wheel_link">
+        <visual>
+            <geometry>
+                <sphere radius="${wheel_radius / 2.0}" />
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <material name="grey" />
+        </visual>
+        <collision>
+            <geometry>
+                <sphere radius="${wheel_radius / 2.0}" />
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+        </collision>
+        <xacro:sphere_inertia m="0.5" r="${2*wheel_radius / 2.0}"
+                              xyz="0 0 0" rpy="0 0 0" />
+    </link>
+
+    <joint name="base_joint" type="fixed">
+        <parent link="base_footprint" />
+        <child link="base_link" />
+        <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="base_right_wheel_joint" type="continuous">
+        <parent link="base_link" />
+        <child link="right_wheel_link" />
+        <origin xyz="${-base_length / 4.0} ${-(base_width + wheel_length) / 2.0} 0" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+
+    <joint name="base_left_wheel_joint" type="continuous">
+        <parent link="base_link" />
+        <child link="left_wheel_link" />
+        <origin xyz="${-base_length / 4.0} ${(base_width + wheel_length) / 2.0} 0" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+
+    <joint name="base_caster_wheel_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="caster_wheel_link" />
+        <origin xyz="${base_length / 3.0} 0 ${-wheel_radius / 2.0}" rpy="0 0 0" />
+    </joint>
+
+</robot>

my_robot1_description/urdf_his/mobile_base_gazebo.xacro

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <gazebo reference="base_link">
+        <material>Gazebo/Blue</material>
+    </gazebo>
+
+    <gazebo reference="right_wheel_link">
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="left_wheel_link">
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="caster_wheel_link">
+        <material>Gazebo/Grey</material>
+        <mu1 value="0.1" />
+        <mu2 value="0.1" />
+    </gazebo>
+
+    <gazebo>
+        <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
+            <!-- Update rate in Hz -->
+            <update_rate>50</update_rate>
+            <!-- wheels -->
+            <left_joint>base_left_wheel_joint</left_joint>
+            <right_joint>base_right_wheel_joint</right_joint>
+            <!-- kinematics -->
+            <wheel_separation>0.45</wheel_separation>
+            <wheel_diameter>0.2</wheel_diameter>
+            <!-- output -->
+            <publish_odom>true</publish_odom>
+            <publish_odom_tf>true</publish_odom_tf>
+            <publish_wheel_tf>true</publish_wheel_tf>
+            <odometry_topic>odom</odometry_topic>
+            <odometry_frame>odom</odometry_frame>
+            <robot_base_frame>base_footprint</robot_base_frame>
+        </plugin>
+    </gazebo>
+
+</robot>

my_robot1_description/urdf_his/my_robot.urdf.xacro

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="common_properties.xacro" />
+    <xacro:include filename="mobile_base.xacro" />
+    <xacro:include filename="mobile_base_gazebo.xacro" />
+    <xacro:include filename="arm.xacro" />
+    <xacro:include filename="arm_gazebo.xacro" />
+
+    <joint name="mobile_base_arm_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="arm_base_link" />
+        <origin xyz="${base_length / 4.0} 0 ${base_height}" rpy="0 0 0" />
+    </joint>
+
+    <!-- <xacro:include filename="camera.xacro" /> -->
+
+</robot>

my_robot1_description/urdf_his/standalone_arm.urdf.xacro

@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    
+    <xacro:include filename="common_properties.xacro" />
+    <xacro:include filename="arm.xacro" />
+    <xacro:include filename="arm_gazebo.xacro" />
+
+</robot>