<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robots/kobuki_hexagons_kinect.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!--
    - Base      : kobuki
    - Stacks    : hexagons
    - 3d Sensor : kinect
-->
<robot name="turtlebot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">

  <link name="base_link">
    <visual>
      <geometry>
        <!-- new mesh -->
        <mesh filename="turtlebot/kobuki_description/meshes/main_body.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.001 0 0.05199"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.10938" radius="0.176"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.0 0 0.05949"/>
    </collision>
    <inertial>
      <mass value="2.4"/>
      <!-- 2.4/2.6 kg for small/big battery pack -->
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="wheel_left_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="0.00 0.115 0.0250"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="wheel_left_link">
    <visual>
      <geometry>
        <mesh filename="turtlebot/kobuki_description/meshes/wheel.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.0206" radius="0.0352"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
     <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
     <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
  </link>
  <joint name="wheel_right_joint" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_right_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="0.00 -0.115 0.0250"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="wheel_right_link">
    <visual>
      <geometry>
        <mesh filename="turtlebot/kobuki_description/meshes/wheel.dae"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.0206" radius="0.0350"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
   <inertial>
      <mass value="0.1"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
   	<contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="10000"/>
    </contact>

  </link>
  <joint name="caster_front_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_front_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="0.115 0.0 0.007"/>
  </joint>
  <link name="caster_front_link">
    <collision>
      <geometry>
        <cylinder length="0.0176" radius="0.017"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <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>
    <contact>
      <lateral_friction value="0.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="10000"/>
    </contact>
  </link>
  <joint name="caster_back_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_back_link"/>
    <origin rpy="-1.57079632679 0 0" xyz="-0.135 0.0 0.009"/>
  </joint>
  <link name="caster_back_link">
    <collision>
      <geometry>
        <cylinder length="0.0176" radius="0.017"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <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>
    <contact>
      <lateral_friction value="0.0"/>
      <rolling_friction value="0.0"/>
      <stiffness value="30000"/>
      <damping value="1000"/>
    </contact>
  </link>
  <joint name="gyro_joint" type="fixed">
    <axis xyz="0 1 0"/>
    <origin rpy="0 0 0" xyz="0.056 0.062 0.0202"/>
    <parent link="base_link"/>
    <child link="gyro_link"/>
  </joint>
  <link name="gyro_link">
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="cliff_sensor_left_joint" type="fixed">
    <origin rpy="0 1.57079632679 0" xyz="0.08734 0.13601 0.0214"/>
    <parent link="base_link"/>
    <child link="cliff_sensor_left_link"/>
  </joint>
  <link name="cliff_sensor_left_link">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="cliff_sensor_right_joint" type="fixed">
    <origin rpy="0 1.57079632679 0" xyz="0.085 -0.13601 0.0214"/>
    <parent link="base_link"/>
    <child link="cliff_sensor_right_link"/>
  </joint>
  <link name="cliff_sensor_right_link">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="cliff_sensor_front_joint" type="fixed">
    <origin rpy="0 1.57079632679 0" xyz="0.156 0.00 0.0214"/>
    <parent link="base_link"/>
    <child link="cliff_sensor_front_link"/>
  </joint>
  <link name="cliff_sensor_front_link">
    <inertial>
      <mass value="0.0001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <gazebo>
    <controller:gazebo_ros_kobuki name="kobuki_controller" plugin="libgazebo_ros_kobuki.so">
      <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
      <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
      <wheel_separation>.230</wheel_separation>
      <wheel_diameter>0.070</wheel_diameter>
      <torque>1.0</torque>
      <velocity_command_timeout>0.6</velocity_command_timeout>
      <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
      <cliff_sensor_front_name>cliff_sensor_front</cliff_sensor_front_name>
      <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
      <cliff_detection_threshold>0.04</cliff_detection_threshold>
      <bumper_name>bumpers</bumper_name>
      <base_collision_model_link>base_link</base_collision_model_link>
    </controller:gazebo_ros_kobuki>
  </gazebo>
  <gazebo reference="wheel_left_link">
    <mu1 value="10"/>
    <mu2 value="10"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>
  <gazebo reference="wheel_right_link">
    <mu1 value="10"/>
    <mu2 value="10"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>
  <gazebo reference="caster_front_link">
    <mu1 value="0"/>
    <mu2 value="0"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>
  <gazebo reference="caster_back_link">
    <mu1 value="0"/>
    <mu2 value="0"/>
    <kp value="100000000.0"/>
    <kd value="10000.0"/>
  </gazebo>
  <gazebo reference="base_link">
    <sensor:contact name="bumpers">
      <geom>base_footprint_geom_base_link</geom>
      <topic>bumpers</topic>
      <alwaysOn>true</alwaysOn>
      <updateRate>50</updateRate>
    </sensor:contact>
  </gazebo>
  <gazebo reference="cliff_sensor_left_link">
    <sensor:ray name="cliff_sensor_left">
      <alwaysOn>true</alwaysOn>
      <updateRate>50</updateRate>
      <rayCount>50</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>1.0</resRange>
      <minAngle>-0.04361</minAngle>
      <maxAngle>0.04361</maxAngle>
      <minRange>0.01</minRange>
      <maxRange>0.15</maxRange>
      <displayRays>true</displayRays>
    </sensor:ray>
  </gazebo>
  <gazebo reference="cliff_sensor_right_link">
    <sensor:ray name="cliff_sensor_right">
      <alwaysOn>true</alwaysOn>
      <updateRate>50</updateRate>
      <rayCount>50</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>1.0</resRange>
      <minAngle>-2.5</minAngle>
      <maxAngle>2.5</maxAngle>
      <minRange>0.01</minRange>
      <maxRange>0.15</maxRange>
      <displayRays>true</displayRays>
    </sensor:ray>
  </gazebo>
  <gazebo reference="cliff_sensor_front_link">
    <sensor:ray name="cliff_sensor_front">
      <alwaysOn>true</alwaysOn>
      <updateRate>50</updateRate>
      <rayCount>50</rayCount>
      <rangeCount>1</rangeCount>
      <resRange>1.0</resRange>
      <minAngle>-2.5</minAngle>
      <maxAngle>2.5</maxAngle>
      <minRange>0.01</minRange>
      <maxRange>0.15</maxRange>
      <displayRays>true</displayRays>
    </sensor:ray>
  </gazebo>
  <gazebo>
    <controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>50</updateRate>
      <bodyName>gyro_link</bodyName>
      <topicName>/mobile_base/sensors/imu_data</topicName>
      <gaussianNoise>2.89e-06</gaussianNoise>
      <xyzOffsets>0 0 0</xyzOffsets>
      <rpyOffsets>0 0 0</rpyOffsets>
      <interface:position name="gyro_link"/>
    </controller:gazebo_ros_imu>
  </gazebo>
  <joint name="pole_bottom_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.12 0.082 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_0_link"/>
  </joint>
  <link name="pole_bottom_0_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_bottom_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.055 0.12 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_1_link"/>
  </joint>
  <link name="pole_bottom_1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_bottom_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.055 0.12 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_2_link"/>
  </joint>
  <link name="pole_bottom_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_bottom_3_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.12 -0.082 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_3_link"/>
  </joint>
  <link name="pole_bottom_3_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_bottom_4_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.055 -0.12 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_4_link"/>
  </joint>
  <link name="pole_bottom_4_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_bottom_5_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.055 -0.12 0.1028"/>
    <parent link="base_link"/>
    <child link="pole_bottom_5_link"/>
  </joint>
  <link name="pole_bottom_5_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0492" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="plate_bottom_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.02364 0.0 0.1306"/>
    <parent link="base_link"/>
    <child link="plate_bottom_link"/>
  </joint>
  <link name="plate_bottom_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.26727 0.340 0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="pole_middle_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0381 0.1505 0.164"/>
    <parent link="base_link"/>
    <child link="pole_middle_0_link"/>
  </joint>
  <link name="pole_middle_0_link">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0608" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_middle_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0381 -0.1505 0.164"/>
    <parent link="base_link"/>
    <child link="pole_middle_1_link"/>
  </joint>
  <link name="pole_middle_1_link">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0608" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_middle_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0381 0.1505 0.164"/>
    <parent link="base_link"/>
    <child link="pole_middle_2_link"/>
  </joint>
  <link name="pole_middle_2_link">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0608" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_middle_3_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0381 -0.1505 0.164"/>
    <parent link="base_link"/>
    <child link="pole_middle_3_link"/>
  </joint>
  <link name="pole_middle_3_link">
    <visual>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0608" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="plate_middle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01364 0.0 0.1874"/>
    <parent link="base_link"/>
    <child link="plate_middle_link"/>
  </joint>
  <link name="plate_middle_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.28727 0.340 0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="pole_top_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0381 0.1505 0.292"/>
    <parent link="base_link"/>
    <child link="pole_top_0_link"/>
  </joint>
  <link name="pole_top_0_link">
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2032" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_top_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0381 -0.1505 0.292"/>
    <parent link="base_link"/>
    <child link="pole_top_1_link"/>
  </joint>
  <link name="pole_top_1_link">
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2032" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_top_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0381 0.1505 0.292"/>
    <parent link="base_link"/>
    <child link="pole_top_2_link"/>
  </joint>
  <link name="pole_top_2_link">
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2032" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_top_3_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.0381 -0.1505 0.292"/>
    <parent link="base_link"/>
    <child link="pole_top_3_link"/>
  </joint>
  <link name="pole_top_3_link">
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.2032" radius=".006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_kinect_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.1024 0.098 0.2372"/>
    <parent link="base_link"/>
    <child link="pole_kinect_0_link"/>
  </joint>
  <link name="pole_kinect_0_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!--         <origin xyz="0 0 0" rpy="${-M_PI/2} ${M_PI} 0"/> -->
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0936" radius="0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="pole_kinect_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.1024 -0.098 0.2372"/>
    <parent link="base_link"/>
    <child link="pole_kinect_1_link"/>
  </joint>
  <link name="pole_kinect_1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!--         <origin xyz="0 0 0" rpy="${-M_PI/2} ${M_PI} 0"/> -->
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0936" radius="0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="plate_top_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01364 0.0  0.3966"/>
    <parent link="base_link"/>
    <child link="plate_top_link"/>
  </joint>
  <link name="plate_top_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.28727 0.340 0.006"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="camera_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.087 -0.0125 0.287"/>
    <parent link="base_link"/>
    <child link="camera_rgb_frame"/>
  </joint>
  <link name="camera_rgb_frame">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="camera_rgb_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
    <parent link="camera_rgb_frame"/>
    <child link="camera_rgb_optical_frame"/>
  </joint>
  <link name="camera_rgb_optical_frame">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="camera_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.031 0.0125 -0.016"/>
    <parent link="camera_rgb_frame"/>
    <child link="eyes"/>
  </joint>
  <link name="eyes">
    <visual>
      <origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="turtlebot/turtlebot_description/meshes/sensors/kinect.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0315 0.0 -0.017"/>
      <geometry>
        <box size="0.07271 0.27794 0.073"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.025 0"/>
    <parent link="camera_rgb_frame"/>
    <child link="camera_depth_frame"/>
  </joint>
  <link name="camera_depth_frame">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
    <parent link="camera_depth_frame"/>
    <child link="camera_depth_optical_frame"/>
  </joint>
  <link name="camera_depth_optical_frame">
    <inertial>
      <mass value="0.001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>

</robot>
