final

imu_v2/imu_v2.ino

@@ -0,0 +1,335 @@
+#include <Wire.h>
+#include <Adafruit_BNO055.h>
+
+#include <avr/wdt.h>
+#include <EEPROM.h>
+
+#define BUFFER_LENGTH 128
+#define BNO_POWER_PIN 10
+#define BNO055_SAMPLERATE_DELAY_MS 10 //100Hz for Fusion mode
+
+Adafruit_BNO055 bno = Adafruit_BNO055(55);
+int eeAddress = 0;
+
+void reset() {
+  do {
+    wdt_enable(WDTO_15MS);
+    for(;;);
+  } while(0);
+}
+
+
+
+
+void displaySensorStatus(void)
+{
+    /* Get the system status values (mostly for debugging purposes) */
+    uint8_t system_status, self_test_results, system_error;
+    system_status = self_test_results = system_error = 0;
+    bno.getSystemStatus(&system_status, &self_test_results, &system_error);
+
+    /* Display the results in the Serial Monitor */
+    Serial.println("");
+    Serial.print("System Status: 0x");
+    Serial.println(system_status, HEX);
+    Serial.print("Self Test:     0x");
+    Serial.println(self_test_results, HEX);
+    Serial.print("System Error:  0x");
+    Serial.println(system_error, HEX);
+    Serial.println("");
+    delay(500);
+}
+
+/**************************************************************************/
+/*
+    Display sensor calibration status
+    */
+/**************************************************************************/
+void displayCalStatus(void)
+{
+    /* Get the four calibration values (0..3) */
+    /* Any sensor data reporting 0 should be ignored, */
+    /* 3 means 'fully calibrated" */
+    uint8_t system, gyro, accel, mag;
+    system = gyro = accel = mag = 0;
+    bno.getCalibration(&system, &gyro, &accel, &mag);
+
+    /* The data should be ignored until the system calibration is > 0 */
+    Serial.print("\t");
+    if (!system)
+    {
+        Serial.print("! ");
+    }
+
+    /* Display the individual values */
+    Serial.print("Sys:");
+    Serial.print(system, DEC);
+    Serial.print(" G:");
+    Serial.print(gyro, DEC);
+    Serial.print(" A:");
+    Serial.print(accel, DEC);
+    Serial.print(" M:");
+    Serial.print(mag, DEC);
+}
+
+/**************************************************************************/
+/*
+    Display the raw calibration offset and radius data
+    */
+/**************************************************************************/
+void displaySensorOffsets(const adafruit_bno055_offsets_t &calibData)
+{
+    Serial.print("Accelerometer: ");
+    Serial.print(calibData.accel_offset_x); Serial.print(" ");
+    Serial.print(calibData.accel_offset_y); Serial.print(" ");
+    Serial.print(calibData.accel_offset_z); Serial.print(" ");
+
+    Serial.print("\nGyro: ");
+    Serial.print(calibData.gyro_offset_x); Serial.print(" ");
+    Serial.print(calibData.gyro_offset_y); Serial.print(" ");
+    Serial.print(calibData.gyro_offset_z); Serial.print(" ");
+
+    Serial.print("\nMag: ");
+    Serial.print(calibData.mag_offset_x); Serial.print(" ");
+    Serial.print(calibData.mag_offset_y); Serial.print(" ");
+    Serial.print(calibData.mag_offset_z); Serial.print(" ");
+
+    Serial.print("\nAccel Radius: ");
+    Serial.print(calibData.accel_radius);
+
+    Serial.print("\nMag Radius: ");
+    Serial.print(calibData.mag_radius);
+}
+
+
+int zeros = 0;
+void readBufSend(){
+  byte buf0[45];
+  byte buf1[45];
+  byte buf2[45];
+
+  bno.readLen(bno.BNO055_CHIP_ID_ADDR, buf0, 8);
+  bno.readLen(bno.BNO055_ACCEL_DATA_X_LSB_ADDR, buf1, 24);
+  bno.readLen(bno.BNO055_QUATERNION_DATA_W_LSB_ADDR, buf2, 22);
+
+  //  Check if first few bytes are zeros;
+  //  TODO: Improve this method 
+  if((int)(buf1[0]+buf1[1]+buf1[2]+buf1[3]+buf1[4]+buf1[5]+buf1[6]+buf1[7]+buf1[8])==(int)0) {
+    zeros++;
+    if(zeros > 128) {
+        Serial.println("# bad data, resetting in 1s");
+        delay(1000);
+        reset();
+    }
+   } else {
+    zeros = 0;
+    // Read registers QUATERNION_DATA_W_LSB to CALIB_STAT
+    Serial.write((byte)0xF0);
+    Serial.write((byte)0xF0);
+    Serial.write((byte)0xF0);
+    Serial.write((byte)0xF0);
+    Serial.write(buf0, 8);
+    Serial.write(buf1, 24);
+    Serial.write(buf2, 22);
+  }
+}
+
+
+/// @fullcalib: 1: Calibrate Mag,Acc&Gyro; 0: Mag only
+int calibrate(bool fullcalib){
+// Calibration routine
+  delay(100); // Sleep for 100ms
+// Loop until Calibration is Success
+  long bnoID;
+  sensor_t sensor;
+  bno.getSensor(&sensor);
+  sensors_event_t event;
+  bno.getEvent(&event);
+  if (!fullcalib){
+      Serial.println("Move sensor slightly to calibrate magnetometers");
+      while (!bno.isFullyCalibrated())
+      {
+          bno.getEvent(&event);
+          delay(BNO055_SAMPLERATE_DELAY_MS);
+//          displayCalStatus();Serial.println();
+          readBufSend();
+      }
+  }
+  else
+  {
+      Serial.println("Please Calibrate Sensor: ");
+      while (!bno.isFullyCalibrated())
+      {
+          bno.getEvent(&event);
+
+          Serial.print("X: ");
+          Serial.print(event.orientation.x, 4);
+          Serial.print("\tY: ");
+          Serial.print(event.orientation.y, 4);
+          Serial.print("\tZ: ");
+          Serial.print(event.orientation.z, 4);
+
+          /* Optional: Display calibration status */
+          displayCalStatus();
+
+          /* New line for the next sample */
+          Serial.println("");
+
+          /* Wait the specified delay before requesting new data */
+          delay(BNO055_SAMPLERATE_DELAY_MS);
+      }
+  }
+
+  Serial.println("\nFully calibrated!");
+  Serial.println("--------------------------------");
+  Serial.println("Calibration Results: ");
+  adafruit_bno055_offsets_t newCalib;
+  bno.getSensorOffsets(newCalib);
+  displaySensorOffsets(newCalib);
+  Serial.println("\n\nStoring calibration data to EEPROM...");
+  
+  eeAddress = 0;
+  bno.getSensor(&sensor);
+  bnoID = sensor.sensor_id;
+  EEPROM.put(eeAddress, bnoID);
+  eeAddress += sizeof(long);
+  EEPROM.put(eeAddress, newCalib);
+  Serial.println("Data stored to EEPROM.");
+  Serial.println("\n--------------------------------\n");
+  delay(500);
+}
+
+void setup_bno(){
+  uint8_t unitsel = (0 << 7) | // Orientation = Android
+                    (0 << 4) | // Temperature = Celsius
+                    (0 << 2) | // Euler = Degrees
+                    (1 << 1) | // Gyro = Rads
+                    (0 << 0);  // Accelerometer = m/s^2
+// Rest the system:
+  bno.setMode(bno.OPERATION_MODE_CONFIG);
+// Reset
+  bno.write8(bno.BNO055_SYS_TRIGGER_ADDR, 0x20);
+  while (bno.read8(bno.BNO055_CHIP_ID_ADDR) != 0xA0)
+  {
+    delay(50);
+    Serial.println("Waiting for BNO to start...");
+  }
+  delay(50);
+  bno.write8(bno.BNO055_PWR_MODE_ADDR, bno.POWER_MODE_NORMAL); delay(10);
+// Write Data to Page: 0  
+  bno.write8(bno.BNO055_PAGE_ID_ADDR, 0); delay(10);
+  bno.setMode(bno.OPERATION_MODE_CONFIG); delay(25);
+  bno.write8(bno.BNO055_UNIT_SEL_ADDR, unitsel);
+  bno.write8(bno.BNO055_AXIS_MAP_CONFIG_ADDR, bno.REMAP_CONFIG_P1); delay(10); // P0-P7, Default is P1
+  bno.write8(bno.BNO055_AXIS_MAP_SIGN_ADDR, bno.REMAP_SIGN_P1); delay(10); // P0-P7, Default is P1
+  bno.write8(bno.BNO055_SYS_TRIGGER_ADDR, 0x0); delay(10);
+  bno.setMode(bno.OPERATION_MODE_NDOF); delay(200);
+  long bnoID;
+  bool foundCalib = false;
+
+  EEPROM.get(eeAddress, bnoID);
+
+  adafruit_bno055_offsets_t calibrationData;
+  sensor_t sensor;
+  /*
+  *  Look for the sensor's unique ID at the beginning oF EEPROM.
+  *  This isn't foolproof, but it's better than nothing.
+  */
+  bno.getSensor(&sensor);
+  if (bnoID != sensor.sensor_id)
+  {
+      Serial.println("\nNo Calibration Data for this sensor exists in EEPROM");
+      delay(500);
+  }
+  else
+  {
+      Serial.println("\nFound Calibration for this sensor in EEPROM.");
+      eeAddress += sizeof(long);
+      EEPROM.get(eeAddress, calibrationData);
+      displaySensorOffsets(calibrationData);
+      Serial.println("\n\nRestoring Calibration data to the BNO055...");
+      bno.setSensorOffsets(calibrationData);
+      Serial.println("\n\nCalibration data loaded into BNO055");
+      foundCalib = true;
+  }
+  delay(1000);
+  /* Display some basic information on this sensor */
+  displaySensorDetails();
+  /* Optional: Display current status */
+  displaySensorStatus();
+//  Set External Crystal 
+  bno.setExtCrystalUse(true);
+}
+void bno_chip_power_reset(){
+  Serial.println("# BNO055 power off");
+  digitalWrite(BNO_POWER_PIN, LOW);
+  delay(500);
+  Serial.println("# BNO055 power on");
+  digitalWrite(BNO_POWER_PIN, HIGH);
+
+}
+
+void setup(void) {
+  wdt_disable();
+  delay(1000);
+  Serial.begin(115200);
+  // BNO Power pin:
+  pinMode(BNO_POWER_PIN, OUTPUT);
+
+  delay(200);
+  // Chip power reset
+  bno_chip_power_reset();
+  delay(500);
+
+  Serial.println("# Check if sensor is connected:");  
+  if(!bno.begin(bno.OPERATION_MODE_CONFIG))
+  {
+    Serial.println("# no BNO055 detected");
+    delay(100);
+    reset();
+  }
+  setup_bno();
+  delay(1000);
+}
+
+
+void loop(void) {
+  byte b;
+  if(Serial.available()) {
+    b = Serial.read();
+    switch(b) {
+      case 'R' : 
+        // Reset the IMU setup
+        delay(100);
+        bno_chip_power_reset(); // This will power down the BNO for some time
+        delay(200);
+        if(!bno.begin(bno.OPERATION_MODE_CONFIG))
+        {
+          Serial.println("# no BNO055 detected");
+          delay(100);
+          reset();
+        }
+        setup_bno();
+        delay(1000);        
+        break;
+      case 'M':
+        // Calibrate Magnetometer (Can be done from ROS node)
+        calibrate(false);
+        break;
+      case 'F':
+        // Complete Calibration. (Has to be done when IMU is outside the robot)
+        calibrate(true);
+        break;
+      default:
+        break;
+    }
+  }
+  
+  // Read the buffers when sensor data is ready
+  sensors_event_t event;
+  bno.getEvent(&event);
+  // Read the buffers and send over serial
+  readBufSend();
+
+  delay(BNO055_SAMPLERATE_DELAY_MS);
+}

src/imu/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(imu_bno055_arduino)
+
+find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs std_msgs serial)
+
+catkin_package(INCLUDE_DIRS include)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(imu_bno055_node src/imu_bno055_node.cpp src/BNO055Activity.cpp)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+target_link_libraries(imu_bno055_node ${catkin_LIBRARIES})
+
+install(TARGETS imu_bno055_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

src/imu/include/imu_bno055/BNO055Activity.hpp

@@ -0,0 +1,42 @@
+#ifndef _BNO055Activity_hpp
+#define _BNO055Activity_hpp
+
+#include <ros/ros.h>
+#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/MagneticField.h>
+#include <sensor_msgs/Temperature.h>
+#include "serial/serial.h"
+
+namespace imu_bno055 {
+
+class BNO055Activity {
+  public:
+    BNO055Activity(ros::NodeHandle &_nh, ros::NodeHandle &_nh_priv);
+
+    bool open();
+    void close();
+    bool start();
+    void stop();
+    bool spinOnce();
+
+  private:
+    bool isOpen() const;
+
+    std::string frame_id;
+    std::string port;
+    int baud;
+    int seq;
+
+    serial::Serial ser;
+    ros::NodeHandle nh;
+    ros::NodeHandle nh_priv;
+    ros::Publisher pub_data;
+    ros::Publisher pub_raw;
+    ros::Publisher pub_mag;
+    ros::Publisher pub_temp;
+};
+
+}
+
+#endif /* _BNO055Activity_hpp */
+

src/imu/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package>
+  <name>imu_bno055_arduino</name>
+  <version>0.0.0</version>
+  <description>imu</description>
+  <maintainer >Zeek</maintainer>
+  <license>ECAM</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <export>
+  </export>
+</package>

src/imu/src/.vscode/c_cpp_properties.json

@@ -0,0 +1,22 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/hour/agv_ws/src/agv_controller/include/**",
+        "/home/hour/agv_ws/src/imu/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

src/imu/src/.vscode/settings.json

@@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}

src/imu/src/BNO055Activity.cpp

@@ -0,0 +1,189 @@
+#include "imu_bno055/BNO055Activity.hpp"
+
+#include <cstdlib>
+#include <cerrno>
+#include <cstring>
+#include <fcntl.h>
+#include <termios.h>
+
+// 54 bytes
+typedef struct {
+  int8_t chip_id_bno055;
+  int8_t chip_id_acc;
+  int8_t chip_id_mag;
+  int8_t chip_id_gyro;
+  int16_t sw_revision_id;
+  int8_t bootloader_version;
+  int8_t page_id;
+  int16_t raw_linear_acceleration_x;
+  int16_t raw_linear_acceleration_y;
+  int16_t raw_linear_acceleration_z;
+  int16_t raw_magnetic_field_x;
+  int16_t raw_magnetic_field_y;
+  int16_t raw_magnetic_field_z;
+  int16_t raw_angular_velocity_x;
+  int16_t raw_angular_velocity_y;
+  int16_t raw_angular_velocity_z;
+  int16_t fused_heading;
+  int16_t fused_roll;
+  int16_t fused_pitch;
+  int16_t fused_orientation_w;
+  int16_t fused_orientation_x;
+  int16_t fused_orientation_y;
+  int16_t fused_orientation_z;
+  int16_t fused_linear_acceleration_x;
+  int16_t fused_linear_acceleration_y;
+  int16_t fused_linear_acceleration_z;
+  int16_t gravity_vector_x;
+  int16_t gravity_vector_y;
+  int16_t gravity_vector_z;
+  int8_t temperature;
+  int8_t calibration_status;
+} imu_record;
+
+namespace imu_bno055 {
+
+BNO055Activity::BNO055Activity( ros::NodeHandle &_nh, ros::NodeHandle &_nh_priv ) :
+	port(""),
+	nh(_nh),
+	seq(0),
+	nh_priv( _nh_priv )
+{
+	ROS_INFO("initializing");
+	nh_priv.param( "port", port, (std::string)"/dev/ttyACM0" );
+	nh_priv.param( "baud", baud, (int)115200 );
+	nh_priv.param( "frame_id", frame_id, (std::string)"imu" );
+}
+
+bool BNO055Activity::open() {
+	try {
+	ser.setPort(port);
+	ser.setBaudrate(baud);
+	serial::Timeout to = serial::Timeout::simpleTimeout(1000);
+	ser.setTimeout(to);
+	ser.open();
+	} catch(serial::IOException& e) {
+          ROS_ERROR_STREAM("cannot open serial port");
+	  exit(EXIT_FAILURE);
+	}
+
+	if(!ser.isOpen()) {
+          ROS_ERROR_STREAM("cannot open serial port");
+	  exit(EXIT_FAILURE);
+	}
+
+	return true;
+}
+
+void BNO055Activity::close() {
+	ROS_INFO("closing port");
+	ser.close();
+}
+
+bool BNO055Activity::start() {
+	if(!isOpen() && !open()) return false;
+
+	ROS_INFO("starting");
+
+	if(!pub_data) pub_data = nh.advertise<sensor_msgs::Imu>("data", 1);
+	if(!pub_raw) pub_raw = nh.advertise<sensor_msgs::Imu>("raw", 1);
+	if(!pub_mag) pub_mag = nh.advertise<sensor_msgs::MagneticField>("mag", 1);
+	if(!pub_temp) pub_temp = nh.advertise<sensor_msgs::Temperature>("temp", 1);
+
+	return true;
+}
+
+bool BNO055Activity::spinOnce( ) {
+  ros::Time time = ros::Time::now();
+  uint64_t t = 1000 * (uint64_t)time.sec + (uint64_t)time.nsec / 1e6;
+
+  if(!ser.available()) {
+    return false;
+  }
+
+  int header_bytes = 0;
+  imu_record record;
+
+  unsigned char c = 0;
+  while(header_bytes < 4) {
+    ser.read(&c, 1);
+    if(c == 0xF0) header_bytes++;
+    else header_bytes = 0;
+  }
+
+  size_t bytes_read;
+
+  bytes_read = ser.read((uint8_t*)&record, 54);
+
+  ROS_DEBUG_STREAM("read " << bytes_read << " bytes");
+
+  if(bytes_read < 54) {
+    return false;
+  }
+
+  seq++;
+
+  sensor_msgs::Imu msg_raw;
+  msg_raw.header.stamp = time;
+  msg_raw.header.frame_id = frame_id;
+  msg_raw.header.seq = seq;
+  msg_raw.linear_acceleration.x = (double)record.raw_linear_acceleration_x / 100.0;
+  msg_raw.linear_acceleration.y = (double)record.raw_linear_acceleration_y / 100.0;
+  msg_raw.linear_acceleration.z = (double)record.raw_linear_acceleration_z / 100.0;
+  msg_raw.angular_velocity.x = (double)record.raw_angular_velocity_x / 900.0;
+  msg_raw.angular_velocity.y = (double)record.raw_angular_velocity_y / 900.0;
+  msg_raw.angular_velocity.z = (double)record.raw_angular_velocity_z / 900.0;
+
+  sensor_msgs::MagneticField msg_mag;
+  msg_mag.header.stamp = time;
+  msg_mag.header.frame_id = frame_id;
+  msg_mag.header.seq = seq;
+  msg_mag.magnetic_field.x = (double)record.raw_magnetic_field_x / 16.0;
+  msg_mag.magnetic_field.y = (double)record.raw_magnetic_field_y / 16.0;
+  msg_mag.magnetic_field.z = (double)record.raw_magnetic_field_z / 16.0;
+
+  sensor_msgs::Imu msg_data;
+  msg_data.header.stamp = time;
+  msg_data.header.frame_id = frame_id;
+  msg_data.header.seq = seq;
+  msg_data.orientation.w = (double)record.fused_orientation_w;
+  msg_data.orientation.x = (double)record.fused_orientation_x;
+  msg_data.orientation.y = (double)record.fused_orientation_y;
+  msg_data.orientation.z = (double)record.fused_orientation_z;
+  msg_data.linear_acceleration.x = (double)record.fused_linear_acceleration_x / 100.0;
+  msg_data.linear_acceleration.y = (double)record.fused_linear_acceleration_y / 100.0;
+  msg_data.linear_acceleration.z = (double)record.fused_linear_acceleration_z / 100.0;
+  msg_data.angular_velocity.x = (double)record.raw_angular_velocity_x / 900.0;
+  msg_data.angular_velocity.y = (double)record.raw_angular_velocity_y / 900.0;
+  msg_data.angular_velocity.z = (double)record.raw_angular_velocity_z / 900.0;
+
+  sensor_msgs::Temperature msg_temp;
+  msg_temp.header.stamp = time;
+  msg_temp.header.frame_id = frame_id;
+  msg_temp.header.seq = seq;
+  msg_temp.temperature = (double)record.temperature;
+
+  pub_data.publish(msg_data);
+  pub_raw.publish(msg_raw);
+  pub_mag.publish(msg_mag);
+  pub_temp.publish(msg_temp);
+
+  return true;	
+}
+
+void BNO055Activity::stop() {
+	ROS_INFO("stopping");
+
+	if(pub_data) pub_data.shutdown();
+	if(pub_raw) pub_raw.shutdown();
+	if(pub_mag) pub_mag.shutdown();
+	if(pub_temp) pub_temp.shutdown();
+
+	close();
+}
+
+bool BNO055Activity::isOpen() const {
+	return ser.isOpen();
+}
+
+}

src/imu/src/imu_sub_node.cpp

@@ -0,0 +1,57 @@
+#include <imu_bno055/BNO055Activity.hpp>
+
+int main(int argc, char *argv[]) {
+    ros::NodeHandle *nh = NULL;
+    ros::NodeHandle *nh_priv = NULL;
+    imu_bno055::BNO055Activity *activity = NULL;
+
+    ros::init(argc, argv, "imu_bno055_node");
+
+    nh = new ros::NodeHandle( );
+    if(!nh) {
+        ROS_FATAL("Failed to initialize NodeHandle");
+        ros::shutdown( );
+        return -1;
+    }
+
+    nh_priv = new ros::NodeHandle("~");
+    if( !nh_priv ) {
+        ROS_FATAL("Failed to initialize private NodeHandle");
+        delete nh;
+        ros::shutdown( );
+        return -2;
+    }
+
+    activity = new imu_bno055::BNO055Activity(*nh, *nh_priv);
+    if(!activity) {
+        ROS_FATAL("Failed to initialize activity");
+        delete nh_priv;
+        delete nh;
+        ros::shutdown();
+        return -3;
+    }
+
+    if(!activity->start()) {
+        ROS_FATAL("Failed to start activity");
+        delete activity;
+        delete nh_priv;
+        delete nh;
+        ros::shutdown();
+        return -4;
+    }
+
+    ros::Rate rate(200);
+    while(ros::ok()) {
+        rate.sleep();
+        ros::spinOnce();
+        activity->spinOnce();
+    }
+
+    activity->stop();
+
+    delete activity;
+    delete nh_priv;
+    delete nh;
+
+    return 0;
+}

src/turtlebot_description/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(turtlebot_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES turtlebot_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/turtlebot_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/turtlebot_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_turtlebot_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/turtlebot_description/launch/display.launch

@@ -0,0 +1,7 @@
+<launch>
+    <arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
+    <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
+    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find turtlebot_description)/rviz/display.rviz"/>
+</launch>

src/turtlebot_description/launch/gazebo.launch

@@ -0,0 +1,21 @@
+<launch>
+   <arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
+   <arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
+   <!-- <arg name="world" default="empty_world"/> -->
+   
+   <param name="robot_description" command="$(find xacro)/xacro '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
+   
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="recording" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+
+    <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+        args="-unpause -urdf -model robot -param robot_description"
+        output="screen" respawn="false"/>
+
+</launch>

src/turtlebot_description/package.xml

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>turtlebot_description</name>
+  <version>0.0.0</version>
+  <description>The turtlebot_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hour@todo.todo">hour</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/turtlebot_description</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/turtlebot_description/rviz/display.rviz

@@ -0,0 +1,213 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5264706015586853
+    Tree Height: 439
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/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
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      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
+        base_scan:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        wheel_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_right_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        caster_back:
+          Value: true
+        imu_link:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          base_link:
+            base_scan:
+              {}
+            caster_back:
+              {}
+            imu_link:
+              {}
+            wheel_left_link:
+              {}
+            wheel_right_link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.249600887298584
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4003998637199402
+      Target Frame: <Fixed Frame>
+      Yaw: 4.389971733093262
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 736
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000242fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000242000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000242000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b80000003efc0100000002fb0000000800540069006d00650100000000000004b8000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000002470000024200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1208
+  X: 72
+  Y: 27

src/turtlebot_description/urdf/turtlebot.urdf.xacro

@@ -0,0 +1,180 @@
+<?xml version="1.0"?>
+
+<robot name="turtlebot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
+
+    <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.xacro"/>
+
+    <link name = "base_footprint"/>
+
+    <link name="base_link">
+        <visual>
+            <origin xyz="-0.2 0.2 -0.07" rpy="1.5708 0 0"/>
+            <geometry>
+                <mesh filename="package://turtlebot_description/meshes/bases/kubot_base.STL" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="light_black"/>
+        </visual>
+
+        <collision>
+            <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+            <geometry>
+            <box size="0.266 0.266 0.094"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
+            <mass value="1.6329594e+00"/>
+            <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+               iyy="8.6195418e-03" iyz="-3.5422299e-06"
+               izz="1.4612727e-02"/>
+            </inertial>
+    </link>
+
+    <link name="wheel_left_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <geometry>
+                <mesh filename="package://turtlebot_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="dark"/>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+            <cylinder length="0.018" radius="0.033"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" />
+            <mass value="2.8498940e-02" />
+            <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+            </inertial>
+    </link>
+
+    <link name="wheel_right_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="1.57 0 0"/>
+            <geometry>
+                <mesh filename="package://turtlebot_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="dark"/>
+        </visual>
+
+        <collision>
+            <origin xyz="0 0.001 0" rpy="0 0 0"/>
+            <geometry>
+            <cylinder length="0.018" radius="0.033"/>
+            </geometry>
+        </collision>
+
+        <inertial><launch>
+            <arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
+            <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)"/>
+            <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
+            <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
+            <node pkg="rviz" type="rviz" args="-d $(find turtlebot_description)/rviz/display.rviz"/>
+        </launch>
+        
+            <origin xyz="0 0 0" />
+            <mass value="2.8498940e-02" />
+            <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+               iyy="1.1192413e-05" iyz="-1.4400107e-11"
+               izz="2.0712558e-05" />
+            </inertial>
+    </link>
+
+    <link name="caster_back">
+        
+
+        <collision>
+            <origin xyz="0 0.004 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.030 0.009 0.020"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <origin xyz="0 0 0" />
+            <mass value="0.005" />
+            <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+        </inertial>            
+    </link>
+
+    <link name="imu_link"/>
+
+    <link name="base_scan">
+        <visual>
+            <origin xyz="0 0 0.0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://turtlebot_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+            </geometry>
+            <material name="dark"/>
+        </visual>
+
+        <collision>
+            <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+            <geometry>
+                <cylinder length="0.0315" radius="0.045"/>
+            </geometry>
+        </collision>
+
+        <inertial>
+            <mass value="0.114" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+               iyy="0.001" iyz="0.0"
+               izz="0.001" />
+        </inertial>
+    </link>
+
+   
+    <joint name="base_joint" type="fixed">
+        <parent link="base_footprint"/>
+        <child link="base_link" />
+        <origin xyz="0.1 0 -0.01" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="wheel_left_joint" type="continuous">
+        <parent link="base_link"/>
+        <child link="wheel_left_link"/>
+        <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+        <axis xyz="0 0 1"/>
+    </joint>
+
+    <joint name="wheel_right_joint" type="continuous">
+        <parent link="base_link"/>
+        <child link="wheel_right_link"/>
+        <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+        <axis xyz="0 0 1"/>
+    </joint>
+
+    <joint name="caster_back" type="fixed">
+        <parent link="base_link"/>
+        <child link="caster_back"/>
+        <origin xyz="-0.177 0 -0.004" rpy="-1.57 0 0"/>
+    </joint>
+
+
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="imu_link"/>
+        <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="scan_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="base_scan"/>
+        <origin xyz="-0.024 0 0.122" rpy="0 0 0"/> 
+    </joint>
+
+   
+</robot>

src/turtlebot_description/urdf/turtlebot_gazebo.xacro

@@ -0,0 +1,85 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="turtlebot">
+
+    <gazebo reference="base_link">
+        <material>Gazebo/DarkGrey</material>
+    </gazebo>
+
+    <gazebo reference="base_scan">
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+
+    <gazebo reference ="wheel_left_link">
+        <mu1>1000000</mu1>
+        <mu2>1000000</mu2>
+        <kp>500000</kp>
+        <kd>10</kd>
+        <minDepth>0.001</minDepth>
+        <maxVel>0.1</maxVel>
+        <fdir1>1 0 0</fdir1>
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+
+    <gazebo reference ="wheel_right_link">
+        <mu1>100000</mu1>
+        <mu2>100000</mu2>
+        <kp>500000</kp>
+        <kd>10</kd>
+        <minDepth>0.001</minDepth>
+        <maxVel>0.1</maxVel>
+        <fdir1>1 0 0</fdir1>
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+    
+    <gazebo reference="caster_back_right_link">
+        <mu1>0.1</mu1>
+        <mu2>0.1</mu2>
+        <kp>1000000</kp>
+        <kd>100</kd>
+        <minDepth>0.001</minDepth>
+        <maxVel>1</maxVel>
+        <fdir1>1 0 0</fdir1>
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+
+    <gazebo reference="caster_back_left_link">
+        <mu1>0.1</mu1>
+        <mu2>0.1</mu2>
+        <kp>1000000</kp>
+        <kd>100</kd>
+        <minDepth>0.001</minDepth>
+        <maxVel>1</maxVel>
+        <fdir1>1 0 0</fdir1>
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+            <lagacyModeNS>true</lagacyModeNS>
+        </plugin>
+    </gazebo>
+
+    <transmission name="wheel_left_tranmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="wheel_left_joint">
+            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="wheel_left_actuator">
+            <mechanicalReduction>1.0</mechanicalReduction>
+            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        </actuator>
+    </transmission>
+
+    <transmission name="wheel_right_tranmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="wheel_right_joint">
+            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="wheel_right_actuator">
+            <mechanicalReduction>1.0</mechanicalReduction>
+            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        </actuator>
+    </transmission>
+</robot>