Merge branch 'slam-feature' into main

debug urdf
adding odometry
2023-08-30 01:06:03 -07:00 · 2023-08-29 23:23:45 -07:00 · 2023-08-29 23:08:22 -07:00 · 2023-08-29 05:23:09 -07:00 · 2023-08-27 22:30:47 -07:00
38 changed files with 259402 additions and 0 deletions
--- a/.catkin_workspace
+++ b/.catkin_workspace
@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@ -0,0 +1,21 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/sasu/kubot_ws/src/kubot_description/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -0,0 +1,8 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}
--- a/src/.vscode/c_cpp_properties.json
+++ b/src/.vscode/c_cpp_properties.json
@ -0,0 +1,23 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot3_simulations/turtlebot3_fake/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot3_simulations/turtlebot3_gazebo/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot_controller/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
--- a/src/.vscode/settings.json
+++ b/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"
+    ]
+}
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@ -0,0 +1 @@
+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
--- a/src/imu/CMakeLists.txt
+++ b/src/imu/CMakeLists.txt
@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(imu)
+
+## 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 COMPONENTS
+  rospy
+  sensor_msgs
+  std_msgs
+)
+
+## 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
+#   sensor_msgs#   std_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 imu
+#  CATKIN_DEPENDS rospy sensor_msgs std_msgs
+#  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/${PROJECT_NAME}/imu.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/imu_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_imu.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)
--- a/src/imu/package.xml
+++ b/src/imu/package.xml
@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>imu</name>
+  <version>0.0.0</version>
+  <description>The imu 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/imu</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>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/src/imu/src/imu_publisher.py
+++ b/src/imu/src/imu_publisher.py
@ -0,0 +1,160 @@
+#!/usr/bin/env python
+
+import rospy
+from geometry_msgs.msg import Quaternion
+from sensor_msgs.msg import Imu, MagneticField
+from std_msgs.msg import Header
+import serial
+import math
+import json
+
+class IMUPublisher:
+    def __init__(self):
+        rospy.init_node('arduino_serial_reader')
+        self.serial_port = '/dev/ttyACM0'
+        self.baud_rate = 115200
+        
+        self.publisher_mag = rospy.Publisher('/imu/mag', MagneticField, queue_size=10)
+        self.publisher_imu = rospy.Publisher('/imu/imu', Imu, queue_size=10)
+        
+        self.timer = rospy.Timer(rospy.Duration(1/100), self.publish_magnet)
+        self.timer = rospy.Timer(rospy.Duration(1/100), self.publish_imu)
+        self.timer = rospy.Timer(rospy.Duration(1/100), self.read_serial_data)
+        
+        self.mag = MagneticField()
+        self.imu = Imu() 
+        
+        self.qx = 0.0
+        self.qy = 0.0
+        self.qz = 0.0
+        self.qw = 0.0      
+        self.euler_roll  = 0.0
+        self.euler_pitch = 0.0
+        self.euler_yaw   = 0.0
+        self.angular_vel_x  = 0.0
+        self.angular_vel_y  = 0.0
+        self.angular_vel_z  = 0.0
+        self.linear_accel_x = 0.0
+        self.linear_accel_y = 0.0
+        self.linear_accel_z = 0.0
+        self.magnetometer_x = 0.0
+        self.magnetometer_y = 0.0
+        self.magnetometer_z = 0.0
+
+        try:
+            self.ser = serial.Serial(self.serial_port, self.baud_rate)
+            rospy.loginfo("Serial port opened: %s", self.serial_port)
+        except serial.SerialException:
+            rospy.logerr("Failed to open serial port. Make sure it's correct and not already in use.")
+            return
+
+    def read_serial_data(self, event):
+        if self.ser.is_open:
+            try:
+                received_data = self.ser.read_until(b'\n').decode('utf-8')
+                try:
+                    data_dict = json.loads(received_data)
+                    self.process_data(data_dict)
+                except json.JSONDecodeError:
+                    rospy.logerr("Error decoding JSON data.")
+            except UnicodeDecodeError:
+                rospy.logerr("Error decoding received data.")
+        else:
+            rospy.logwarn("Serial port is not open.")
+
+    def process_data(self, data_dict):
+        if "A" in data_dict:
+            euler_data = data_dict["A"]
+            self.euler_roll  = euler_data[0]
+            self.euler_pitch = euler_data[1]
+            self.euler_yaw   = euler_data[2]
+            rospy.loginfo("Euler Angle: euler_roll=%.2f, euler_pitch=%.2f, euler_yaw=%.2f", self.euler_roll, self.euler_pitch, self.euler_yaw)
+                            
+        if "G" in data_dict:
+            angular_vel_data = data_dict["G"]
+            self.angular_vel_x = angular_vel_data[0]
+            self.angular_vel_y = angular_vel_data[1]
+            self.angular_vel_z = angular_vel_data[2]
+            rospy.loginfo("Angular Velocity: X=%.2f, Y=%.2f, Z=%.2f", self.angular_vel_x, self.angular_vel_y, self.angular_vel_z)
+
+        if "L" in data_dict:
+            linear_accel_data = data_dict["L"]
+            self.linear_accel_x = linear_accel_data[0]
+            self.linear_accel_y = linear_accel_data[1]
+            self.linear_accel_z = linear_accel_data[2]
+            rospy.loginfo("Linear Acceleration: X=%.2f, Y=%.2f, Z=%.2f", self.linear_accel_x, self.linear_accel_y, self.linear_accel_z)
+
+        if "M" in data_dict:
+            magnetometer_data = data_dict["M"]
+            self.magnetometer_x = magnetometer_data[0]
+            self.magnetometer_y = magnetometer_data[1]
+            self.magnetometer_z = magnetometer_data[2]
+            rospy.loginfo("Magnetometer: X=%.2f, Y=%.2f, Z=%.2f", self.magnetometer_x, self.magnetometer_y, self.magnetometer_z)
+            
+    def euler_to_quaternion(self):
+        sr = math.sin(math.radians(self.euler_roll) /2)
+        cr = math.cos(math.radians(self.euler_roll) /2)
+        sp = math.sin(math.radians(self.euler_pitch)/2)
+        cp = math.cos(math.radians(self.euler_pitch)/2)
+        sy = math.sin(math.radians(self.euler_yaw)  /2)
+        cy = math.cos(math.radians(self.euler_yaw)  /2)
+
+        self.qw = cy * cp * cr + sy * sp * sr
+        self.qx = cy * cp * sr - sy * sp * cr
+        self.qy = sy * cp * sr + cy * sp * cr
+        self.qz = sy * cp * cr - cy * sp * sr
+                                                
+    def publish_imu(self, event):
+        self.imu.header = Header()
+        self.imu.header.frame_id = "base_link"
+        self.imu.header.stamp = rospy.Time.now()
+        
+        self.euler_to_quaternion()
+        self.imu.orientation.x = self.qx
+        self.imu.orientation.y = self.qy
+        self.imu.orientation.z = self.qz
+        self.imu.orientation.w = self.qw
+        self.imu.orientation_covariance = [
+            0.0159, 0.0, 0.0,
+            0.0, 0.0159, 0.0,
+            0.0, 0.0, 0.0159]
+        rospy.loginfo("Orientation: qx=%.2f, qy=%.2f, qz=%.2f, qw=%.2f", self.imu.orientation.x, self.imu.orientation.y, self.imu.orientation.z, self.imu.orientation.w)
+
+        self.imu.angular_velocity.x = float(self.angular_vel_x)
+        self.imu.angular_velocity.y = float(self.angular_vel_y)
+        self.imu.angular_velocity.z = float(self.angular_vel_z)
+        self.imu.angular_velocity_covariance = [
+            0.04, 0.0, 0.0,
+            0.0, 0.04, 0.0,
+            0.0, 0.0, 0.04]
+        rospy.loginfo("Angular Velocity: X=%.2f, Y=%.2f, Z=%.2f", self.imu.angular_velocity.x, self.imu.angular_velocity.y, self.imu.angular_velocity.z)
+
+        self.imu.linear_acceleration.x = float(self.linear_accel_x)
+        self.imu.linear_acceleration.y = float(self.linear_accel_y)
+        self.imu.linear_acceleration.z = float(self.linear_accel_z)
+        self.imu.linear_acceleration_covariance = [
+            0.017, 0.0, 0.0,
+            0.0, 0.017, 0.0,
+            0.0, 0.0, 0.017]
+        rospy.loginfo("Linear Acceleration: X=%.2f, Y=%.2f, Z=%.2f", self.imu.linear_acceleration.x, self.imu.linear_acceleration.y, self.imu.linear_acceleration.z)
+                                                   
+        self.publisher_imu.publish(self.imu)
+        
+    def publish_magnet(self, event):
+        self.mag.header = Header()
+        self.mag.header.frame_id = "base_link"
+        self.mag.header.stamp = rospy.Time.now()
+        
+        self.mag.magnetic_field.x = float(self.magnetometer_x)
+        self.mag.magnetic_field.y = float(self.magnetometer_y)
+        self.mag.magnetic_field.z = float(self.magnetometer_z)
+    
+        self.publisher_mag.publish(self.mag)
+
+def main():
+    node = IMUPublisher()
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()
+
--- a/src/turtlebot3_simulations
+++ b/src/turtlebot3_simulations
@ -0,0 +1 @@
+Subproject commit e9d809ca8e3bf889c0275e4103b15a341ffab888
--- a/src/turtlebot_controller/.vscode/c_cpp_properties.json
+++ b/src/turtlebot_controller/.vscode/c_cpp_properties.json
@ -0,0 +1,23 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot3_simulations/turtlebot3_fake/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot3_simulations/turtlebot3_gazebo/include/**",
+        "/home/hour/turtlebot_wc/src/turtlebot_controller/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
--- a/src/turtlebot_controller/.vscode/settings.json
+++ b/src/turtlebot_controller/.vscode/settings.json
@ -0,0 +1,11 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "files.associations": {
+        "geometry": "cpp"
+    }
+}
--- a/src/turtlebot_controller/CMakeLists.txt
+++ b/src/turtlebot_controller/CMakeLists.txt
@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(turtlebot_controller)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  sensor_msgs
+  nav_msgs
+  tf2
+  tf2_ros
+)
+find_package(Eigen3 REQUIRED)
+
+catkin_package(
+INCLUDE_DIRS include
+CATKIN_DEPENDS 
+std_msgs
+geometry_msgs
+sensor_msgs
+nav_msgs
+tf2
+tf2_ros
+DEPENDS Eigen3
+#  DEPENDS system_lib
+)
+
+include_directories(
+include
+
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+  add_library(simple_controller src/simple_controller.cpp)
+  add_dependencies(simple_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  target_link_libraries(simple_controller ${catkin_LIBRARIES} ${Eigen_LIBRARIES})
+
+  add_executable(simple_controller_node nodes/simple_controller_node.cpp)
+  add_dependencies(simple_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  target_link_libraries(simple_controller_node ${catkin_LIBRARIES} simple_controller)
+
+
+
--- a/src/turtlebot_controller/config/simple_controller.yaml
+++ b/src/turtlebot_controller/config/simple_controller.yaml
@ -0,0 +1,20 @@
+# joint_state_controller:
+#   type: joint_state_controller/JointStateController
+#   publish_rate: 50
+# wheel_left_controller:
+#   type : velocity_controllers/JointVelocityController
+#   joint : wheel_left_joint
+# wheel_right_controller:
+#   type : velocity_controllers/JointVelocityController
+#   joint : wheel_right_joint
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+
+wheel_left_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: wheel_left_joint
+
+wheel_right_controller:
+  type: velocity_controllers/JointVelocityController
+  joint: wheel_right_joint
--- a/src/turtlebot_controller/include/turtlebot_controller/simple_controller.h
+++ b/src/turtlebot_controller/include/turtlebot_controller/simple_controller.h
@ -0,0 +1,44 @@
+#ifndef SIMPLE_CONTROLLER_H
+#define SIMPLE_CONTROLLER_H
+
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <Eigen/Core>
+#include <sensor_msgs/JointState.h>
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/TransformStamped.h>
+
+
+class SimpleController
+{
+public:
+    SimpleController(const ros::NodeHandle &, double radius, double separation);
+
+private:
+    void velCallback(const geometry_msgs::Twist &);
+
+    void jointCallback(const sensor_msgs::JointState &);
+
+    ros::NodeHandle nh_;
+    ros::Subscriber vel_sub_;
+    ros::Publisher right_cmd_pub_;
+    ros::Publisher left_cmd_pub_;
+    ros::Subscriber joint_sub_;
+    ros::Publisher odom_pub_;
+
+    // Differential Kinematics
+    Eigen::Matrix2d speed_conversion_;
+
+    // Odometry
+    double wheel_radius_;
+    double wheel_separation_;
+    double right_wheel_prev_pos_;
+    double left_wheel_prev_pos_;
+    ros::Time prev_time_;
+    nav_msgs::Odometry odom_msg_;
+    double x_;
+    double y_;
+    double theta_;
+    geometry_msgs::TransformStamped transform_stamped_;
+};
+#endif 
--- a/src/turtlebot_controller/launch/controller.launch
+++ b/src/turtlebot_controller/launch/controller.launch
@ -0,0 +1,59 @@
+<!-- <launch>
+
+    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>
+
+
+    <node pkg="robot_state_publisher" type="robot_state_publsiher" name="robot_state_publsiher" respawn="false" output="screen"/>
+
+   
+
+    <node pkg="controller_manager" type="spawner" name="controller_manager"  respawn="false"  output="screen"
+    args="wheel_left_controller wheel_right_controller joint_state_controller"/>
+
+
+</launch> -->
+<!-- <launch>
+    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>
+
+    <node pkg="controller_manager" type="spawner" name="controller_manager" respawn="false" output="screen"
+    args="wheel_left_controller wheel_right_controller joint_state_controller"/>
+
+</launch> -->
+<!-- <launch>
+    <arg name="wheel_radius" default="0.033"/>
+    <arg name="wheel_seperation" default="0.17"/>
+
+
+    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>
+
+    <node pkg="controller_manager" type="spawner" name="controller_manager" respawn="false" output="screen"
+    args="wheel_left_controller wheel_right_controller joint_state_controller"/>
+    <node pkg="turtlebot_controller" type="simple_controller_node" name="simple_controller_node"
+    respawn="true" output="screen"/>
+    <param name="wheel radius" value="$(arg_wheel_radius"/>
+    <param name="wheel seperation" value="$(arg_wheel_seperation"/>
+
+
+</launch> -->
+<launch>
+    <arg name="wheel_radius" default="0.033"/>
+    <arg name="wheel_seperation" default="0.17"/>
+
+    <rosparam file="$(find turtlebot_controller)/config/simple_controller.yaml" command="load"/>
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" respawn="false" output="screen"/>
+
+    <node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="wheel_left_controller wheel_right_controller joint_state_controller"/>
+
+    <node pkg="turtlebot_controller" type="simple_controller_node" name="simple_controller_node"
+        respawn="true" output="screen">
+        <param name="wheel_radius" value="$(arg wheel_radius)"/>
+        <param name="wheel_seperation" value="$(arg wheel_seperation)"/>
+    </node>
+
+</launch>
--- a/src/turtlebot_controller/launch/teleop_keybord.launch
+++ b/src/turtlebot_controller/launch/teleop_keybord.launch
@ -0,0 +1,8 @@
+<launch>
+        <node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" name="keyboard_teleop" output="screen">
+            <param name="scale_linear" type="double" value="0.5"/>
+            <param name="scale_angular" type="double" value="0.5"/>
+            <remap from="cmd_vel" to="/turtlebot_controller/cmd_vel"/>
+
+        </node>
+</launch>
--- a/src/turtlebot_controller/nodes/simple_controller_node.cpp
+++ b/src/turtlebot_controller/nodes/simple_controller_node.cpp
@ -0,0 +1,17 @@
+#include <ros/ros.h>
+#include "turtlebot_controller/simple_controller.h"
+
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "simple_controller");
+    ros::NodeHandle nh;
+    ros::NodeHandle pnh("~");
+    double wheel_radius, wheel_separation;
+    pnh.getParam("wheel_radius", wheel_radius);
+    pnh.getParam("wheel_separation", wheel_separation);
+    SimpleController controller(nh, wheel_radius, wheel_separation);
+    ros::spin();
+
+    return 0;
+}
--- a/src/turtlebot_controller/package.xml
+++ b/src/turtlebot_controller/package.xml
@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>turtlebot_controller</name>
+  <version>0.0.0</version>
+  <description>The turtlebot_controller 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_controller</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>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>eigen</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>tf2</build_export_depend>
+  <build_export_depend>tf2_ros</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>eigen</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>tf2</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/src/turtlebot_controller/src/simple_controller.cpp
+++ b/src/turtlebot_controller/src/simple_controller.cpp
@ -0,0 +1,116 @@
+#include "turtlebot_controller/simple_controller.h"
+#include <std_msgs/Float64.h>
+#include <Eigen/Geometry>
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2_ros/transform_broadcaster.h>
+
+
+SimpleController::SimpleController(const ros::NodeHandle &nh,
+                                   double radius,
+                                   double separation)
+                                  : nh_(nh)
+                                  , wheel_radius_(radius)
+                                  , wheel_separation_(separation)
+                                  , left_wheel_prev_pos_(0.0)
+                                  , right_wheel_prev_pos_(0.0)
+                                  , x_(0.0)
+                                  , y_(0.0)
+                                  , theta_(0.0)
+{
+    ROS_INFO_STREAM("Using wheel radius " << radius);
+    ROS_INFO_STREAM("Using wheel separation " << separation);
+    right_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_right_controller/command", 10);
+    left_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_left_controller/command", 10);
+    vel_sub_ = nh_.subscribe("turtlebot_controller/cmd_vel", 1000, &SimpleController::velCallback, this);
+    joint_sub_ = nh_.subscribe("joint_states", 1000, &SimpleController::jointCallback, this);
+    odom_pub_ = nh_.advertise<nav_msgs::Odometry>("turtlebot_controller/odom", 10);
+
+    speed_conversion_ << radius/2, radius/2, radius/separation, -radius/separation;
+    ROS_INFO_STREAM("The conversion matrix is \n" << speed_conversion_);
+
+    // Fill the Odometry message with invariant parameters
+    odom_msg_.header.frame_id = "odom";
+    odom_msg_.child_frame_id = "base_footprint";
+    odom_msg_.pose.pose.orientation.x = 0.0;
+    odom_msg_.pose.pose.orientation.y = 0.0;
+    odom_msg_.pose.pose.orientation.z = 0.0;
+    odom_msg_.pose.pose.orientation.w = 1.0;
+
+    transform_stamped_.header.frame_id = "odom";
+    transform_stamped_.child_frame_id = "base_footprint";
+
+    prev_time_ = ros::Time::now();
+}
+
+
+void SimpleController::velCallback(const geometry_msgs::Twist &msg)
+{
+    // Implements the differential kinematic model
+    // Given v and w, calculate the velocities of the wheels
+    Eigen::Vector2d robot_speed(msg.linear.x, msg.angular.z);
+    Eigen::Vector2d wheel_speed = speed_conversion_.inverse() * robot_speed;
+    std_msgs::Float64 right_speed;
+    right_speed.data = wheel_speed.coeff(0);
+    std_msgs::Float64 left_speed;
+    left_speed.data = wheel_speed.coeff(1);
+
+    right_cmd_pub_.publish(right_speed);
+    left_cmd_pub_.publish(left_speed);
+}
+
+
+void SimpleController::jointCallback(const sensor_msgs::JointState &state)
+{
+    // Implements the inverse differential kinematic model
+    // Given the position of the wheels, calculates their velocities
+    // then calculates the velocity of the robot wrt the robot frame
+    // and then converts it in the global frame and publishes the TF
+    double dp_left = state.position.at(0) - left_wheel_prev_pos_;
+    double dp_right = state.position.at(1) - right_wheel_prev_pos_;
+    double dt = (state.header.stamp - prev_time_).toSec();
+
+    // Actualize the prev pose for the next itheration
+    left_wheel_prev_pos_ = state.position.at(0);
+    right_wheel_prev_pos_ = state.position.at(1);
+    prev_time_ = state.header.stamp;
+
+    // Calculate the rotational speed of each wheel
+    double fi_left = dp_left / dt;
+    double fi_right = dp_right / dt;
+
+    // Calculate the linear and angular velocity
+    double linear = (wheel_radius_ * fi_right + wheel_radius_ * fi_left) / 2;
+    double angular = (wheel_radius_ * fi_right - wheel_radius_ * fi_left) / wheel_separation_;
+
+    // Calculate the position increment
+    double d_s = (wheel_radius_ * dp_right + wheel_radius_ * dp_left) / 2;
+    double d_theta = (wheel_radius_ * dp_right - wheel_radius_ * dp_left) / wheel_separation_;
+    theta_ += d_theta;
+    x_ += d_s * cos(theta_);
+    y_ += d_s * sin(theta_);
+
+    // Compose and publish the odom message
+    tf2::Quaternion q;
+    q.setRPY(0, 0, theta_);
+    odom_msg_.header.stamp = ros::Time::now();
+    odom_msg_.pose.pose.position.x = x_;
+    odom_msg_.pose.pose.position.y = y_;
+    odom_msg_.pose.pose.orientation.x = q.getX();
+    odom_msg_.pose.pose.orientation.y = q.getY();
+    odom_msg_.pose.pose.orientation.z = q.getZ();
+    odom_msg_.pose.pose.orientation.w = q.getW();
+    odom_msg_.twist.twist.linear.x = linear;
+    odom_msg_.twist.twist.angular.z = angular;
+    odom_pub_.publish(odom_msg_);
+
+    // TF
+    static tf2_ros::TransformBroadcaster br;
+    transform_stamped_.transform.translation.x = x_;
+    transform_stamped_.transform.translation.y = y_;
+    transform_stamped_.transform.rotation.x = q.getX();
+    transform_stamped_.transform.rotation.y = q.getY();
+    transform_stamped_.transform.rotation.z = q.getZ();
+    transform_stamped_.transform.rotation.w = q.getW();
+    transform_stamped_.header.stamp = ros::Time::now();
+    br.sendTransform(transform_stamped_);
+}
--- a/src/turtlebot_description/CMakeLists.txt
+++ b/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 ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/src/turtlebot_description/launch/display.launch
+++ b/src/turtlebot_description/launch/display.launch
@ -0,0 +1,7 @@
+<launch>
+    <arg name="model" default="$(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 $(find turtlebot_description)/rviz/display.rviz"/>
+</launch>
--- a/src/turtlebot_description/launch/gazebo.launch
+++ b/src/turtlebot_description/launch/gazebo.launch
@ -0,0 +1,21 @@
+<launch>
+   <arg name="model" default="$(find kubot_description)/urdf/kubot.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>
--- a/src/turtlebot_description/meshes/bases/burger_base.stl
+++ b/src/turtlebot_description/meshes/bases/burger_base.stl
--- a/src/turtlebot_description/meshes/bases/kubot_base.STL
+++ b/src/turtlebot_description/meshes/bases/kubot_base.STL
--- a/src/turtlebot_description/meshes/bases/waffle_base.stl
+++ b/src/turtlebot_description/meshes/bases/waffle_base.stl
--- a/src/turtlebot_description/meshes/bases/waffle_base_for_open_manipulator.stl
+++ b/src/turtlebot_description/meshes/bases/waffle_base_for_open_manipulator.stl
--- a/src/turtlebot_description/meshes/bases/waffle_pi_base.stl
+++ b/src/turtlebot_description/meshes/bases/waffle_pi_base.stl
--- a/src/turtlebot_description/meshes/bases/waffle_pi_base_for_open_manipulator.stl
+++ b/src/turtlebot_description/meshes/bases/waffle_pi_base_for_open_manipulator.stl
--- a/src/turtlebot_description/meshes/sensors/astra.dae
+++ b/src/turtlebot_description/meshes/sensors/astra.dae
--- a/src/turtlebot_description/meshes/sensors/astra.jpg
+++ b/src/turtlebot_description/meshes/sensors/astra.jpg
--- a/src/turtlebot_description/meshes/sensors/lds.stl
+++ b/src/turtlebot_description/meshes/sensors/lds.stl
--- a/src/turtlebot_description/meshes/sensors/r200.dae
+++ b/src/turtlebot_description/meshes/sensors/r200.dae
--- a/src/turtlebot_description/meshes/sensors/r200.jpg
+++ b/src/turtlebot_description/meshes/sensors/r200.jpg
--- a/src/turtlebot_description/package.xml
+++ b/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>
--- a/src/turtlebot_description/rviz/display.rviz
+++ b/src/turtlebot_description/rviz/display.rviz
@ -0,0 +1,206 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    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: true
+      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
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_rgb_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rgb_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        caster_back_left_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        caster_back_right_link:
+          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: false
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  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: 0.6517211198806763
+      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: 0.5753997564315796
+      Target Frame: <Fixed Frame>
+      Yaw: 0.013627300970256329
+    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
--- a/src/turtlebot_description/urdf/turtlebot.urdf.xacro
+++ b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
@ -0,0 +1,251 @@
+<?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="-0.14 0.2 -0.05" 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_link">
+        <collision>
+            <origin xyz="0 0.001 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="caster_back_right_link">
+        <collision>
+            <origin xyz="0 0.001 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="caster_back_left_link">
+        <collision>
+            <origin xyz="0 0.001 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>
+<!-- 
+    <link name="camera_link">
+        <collision>
+        <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+        <geometry>
+            <box size="0.015 0.030 0.027"/>
+        </geometry>
+        </collision>
+    </link> -->
+
+    <!-- <link name="camera_rgb_frame"/> -->
+
+    <!-- <link name="camera_rgb_optical_frame"/> -->
+
+    <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_right_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="caster_back_right_link"/>
+        <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+    </joint>
+
+    <joint name="caster_back_left_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="caster_back_left_link"/>
+        <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+    </joint> -->
+
+    <joint name="caster__joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="caster_link"/>
+        <origin xyz="-0.177 0.064 -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>
+
+    <!-- <joint name="camera_joint" type="fixed">
+        <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+        <parent link="base_link"/>
+        <child link="camera_link"/>
+    </joint> -->
+<!-- 
+    <joint name="camera_rgb_joint" type="fixed">
+        <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+        <parent link="camera_link"/>
+        <child link="camera_rgb_frame"/>
+    </joint> -->
+
+    <!-- <joint name="camera_rgb_optical_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+        <parent link="camera_rgb_frame"/>
+        <child link="camera_rgb_optical_frame"/>
+    </joint> -->
+
+</robot>
--- a/src/turtlebot_description/urdf/turtlebot_gazebo.xacro
+++ b/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>
Author	SHA1	Message	Date
Ly PECHVATTANA	214e49425f	Merge branch 'slam-feature' into main	2023-08-30 01:06:03 -07:00
Ly PECHVATTANA	acf67fbc0d	debug urdf	2023-08-29 23:23:45 -07:00
Ly PECHVATTANA	145bf17cb7	adding odometry	2023-08-29 23:08:22 -07:00
Ly PECHVATTANA	7160ce6809	adding gazebo.launch	2023-08-29 05:23:09 -07:00
Minh MENG HOUR	b19f23ac71	code	2023-08-27 22:30:47 -07:00
				`@ -0,0 +1 @@`
				`# This file currently only serves to mark the location of a catkin workspace for tool integration`
				`@ -0,0 +1 @@`
				`/opt/ros/noetic/share/catkin/cmake/toplevel.cmake`
				`@ -0,0 +1 @@`
				`Subproject commit e9d809ca8e3bf889c0275e4103b15a341ffab888`