diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..b26a853284f8cf8c1b2c6ebd73c5e5b75b92eae2
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/common_properties.xacro
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+
+<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!-- Init colour -->
+ <material name="black">
+ <color rgba="0.0 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="dark">
+ <color rgba="0.3 0.3 0.3 1.0"/>
+ </material>
+ <material name="light_black">
+ <color rgba="0.4 0.4 0.4 1.0"/>
+ </material>
+
+ <material name="blue">
+ <color rgba="0.0 0.0 0.8 1.0"/>
+ </material>
+
+ <material name="green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 1.0"/>
+ </material>
+
+ <material name="orange">
+ <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+ </material>
+
+ <material name="brown">
+ <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+ </material>
+
+ <material name="red">
+ <color rgba="0.8 0.0 0.0 1.0"/>
+ </material>
+
+ <material name="white">
+ <color rgba="1.0 1.0 1.0 1.0"/>
+ </material>
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..817e79817ef0277813b528d3d0a98150eab793ea
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazebo.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="wheel_right_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.160</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ca205cdb96b10090f6dfef0ae57ccbe3e6c311a4
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.gazeboSafety.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.160</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>8</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..c63d8c6f08d616f16486152f0d547b9cede4351c
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger.urdf.xacro
@@ -0,0 +1,166 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.140 0.140 0.143"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="8.2573504e-01"/>
+ <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+ iyy="2.1193702e-03" iyz="-5.0120904e-06"
+ izz="2.0064271e-03" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <joint name="caster_back_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_link"/>
+ <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_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>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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="0.055"/>
+ </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>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..d066759457e2090775774ff74cdfa7d975234193
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgerSafety.urdf.xacro
@@ -0,0 +1,165 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.140 0.140 0.143"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="8.2573504e-01"/>
+ <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+ iyy="2.1193702e-03" iyz="-5.0120904e-06"
+ izz="2.0064271e-03" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <joint name="caster_back_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_link"/>
+ <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_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>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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="0.055"/>
+ </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>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..9ea29801e9bc453c976c890c3c7d6e71850010bb
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.gazebo.xacro
@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_for_autorace_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="camera_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.160</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+ <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
+ <gazebo reference="camera_rgb_frame">
+ <sensor type="camera" name="Pi Camera">
+ <always_on>true</always_on>
+ <visualize>$(arg camera_visual)</visualize>
+ <camera>
+ <horizontal_fov>1.085595</horizontal_fov>
+ <image>
+ <width>320</width>
+ <height>240</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.03</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>camera</cameraName>
+ <frameName>camera_rgb_optical_frame</frameName>
+ <imageTopicName>image</imageTopicName>
+ <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e647f37f24d74ceab94560af613f47fc32adc123
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burger_for_autorace.urdf.xacro
@@ -0,0 +1,194 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger_for_autorace" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger_for_autorace.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.140 0.140 0.143"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="8.2573504e-01"/>
+ <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+ iyy="2.1193702e-03" iyz="-5.0120904e-06"
+ izz="2.0064271e-03" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <joint name="caster_back_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_link"/>
+ <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_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>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.040 -0.011 0.130" rpy="0 0.174 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <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>
+
+ <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>
+ <link name="camera_rgb_frame"/>
+
+ <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>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a014212733e0db6dbde372163d3378a5c8943e4f
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.gazebo.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.160</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="gpu_ray" name="head_rplidar_sensor">
+ <pose>0 0 0.06 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>40</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>720</samples>
+ <resolution>1</resolution>
+ <min_angle>-3.14159265</min_angle>
+ <max_angle>3.14159265</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.2</min>
+ <max>30.0</max>
+ <resolution>0.01</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_head_rplidar_controller" filename="libgazebo_ros_gpu_laser.so">
+ <topicName>scan</topicName>
+ <frameName>laser</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..aa785c9d0eff913732c5f1e5e196a30abffeb1da
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_burgertest1.urdf.xacro
@@ -0,0 +1,162 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.140 0.140 0.143"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="8.2573504e-01"/>
+ <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+ iyy="2.1193702e-03" iyz="-5.0120904e-06"
+ izz="2.0064271e-03" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <joint name="caster_back_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_link"/>
+ <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_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>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/rplidar.dae" scale="0.001 0.001 0.001" />
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/rplidar.dae" scale="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="1e-5" />
+ <origin xyz="0 0 0.058" rpy="1.5707 0 4.71"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+ </inertial>
+ </link>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..3eef193a7241389ff1afe0810f664d2222aa68dc
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.gazebo.xacro
@@ -0,0 +1,190 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_waffle_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="camera_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.287</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+ <gazebo reference="camera_rgb_frame">
+ <sensor type="depth" name="realsense_R200">
+ <always_on>true</always_on>
+ <visualize>$(arg camera_visual)</visualize>
+ <camera>
+ <horizontal_fov>1.3439</horizontal_fov>
+ <image>
+ <width>1920</width>
+ <height>1080</height>
+ <format>R8G8B8</format>
+ </image>
+ <depth_camera></depth_camera>
+ <clip>
+ <near>0.03</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
+ <baseline>0.2</baseline>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>camera</cameraName>
+ <frameName>camera_rgb_optical_frame</frameName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudCutoff>0.4</pointCloudCutoff>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ <CxPrime>0.0</CxPrime>
+ <Cx>0.0</Cx>
+ <Cy>0.0</Cy>
+ <focalLength>0</focalLength>
+ <hackBaseline>0</hackBaseline>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ee2326848f0cc502c3bd5fd9f45c814b805ba078
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle.urdf.xacro
@@ -0,0 +1,251 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>
+
+ <xacro:property name="r200_cam_rgb_px" value="0.005"/>
+ <xacro:property name="r200_cam_rgb_py" value="0.018"/>
+ <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
+ <xacro:property name="r200_cam_depth_offset" value="0.01"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_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" rpy="0 0 0"/>
+ <mass value="1.3729096e+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>
+
+ <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>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <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>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0.003 0.065 0.007" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.012 0.132 0.020"/>
+ </geometry>
+ </collision>
+
+ <!-- This inertial field needs doesn't contain reliable data!! -->
+<!-- <inertial>
+ <mass value="0.564" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+ iyy="0.000498940" iyz="0.0"
+ izz="0.003879257" />
+ </inertial>-->
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+ <joint name="camera_depth_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_depth_frame"/>
+ </joint>
+ <link name="camera_depth_frame"/>
+
+ <joint name="camera_depth_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_depth_optical_frame"/>
+ </joint>
+ <link name="camera_depth_optical_frame"/>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..cd4044cf0457d1e7b74ce286430beec00e55915b
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_for_open_manipulator.urdf.xacro
@@ -0,0 +1,251 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_for_open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>
+
+ <xacro:property name="r200_cam_rgb_px" value="0.005"/>
+ <xacro:property name="r200_cam_rgb_py" value="0.018"/>
+ <xacro:property name="r200_cam_rgb_pz" value="0.013"/>
+ <xacro:property name="r200_cam_depth_offset" value="0.01"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base_for_open_manipulator.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" rpy="0 0 0"/>
+ <mass value="1.3729096e+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>
+
+ <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>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_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>
+ <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>
+
+ <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>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <link name="imu_link"/>
+
+ <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>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.045"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0.003 0.065 0.010" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.012 0.132 0.022"/>
+ </geometry>
+ </collision>
+
+ <!-- This inertial field needs doesn't contain reliable data!! -->
+<!-- <inertial>
+ <mass value="0.564" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+ iyy="0.000498940" iyz="0.0"
+ izz="0.003879257" />
+ </inertial>-->
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+ <joint name="camera_depth_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_depth_frame"/>
+ </joint>
+ <link name="camera_depth_frame"/>
+
+ <joint name="camera_depth_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_depth_frame"/>
+ <child link="camera_depth_optical_frame"/>
+ </joint>
+ <link name="camera_depth_optical_frame"/>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..191daa8d3463b7a0dbada62546b4922a21ed5c47
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.gazebo.xacro
@@ -0,0 +1,180 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_waffle_pi_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="camera_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</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>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.287</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>200</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
+ <gazebo reference="camera_rgb_frame">
+ <sensor type="camera" name="Pi Camera">
+ <always_on>true</always_on>
+ <visualize>$(arg camera_visual)</visualize>
+ <camera>
+ <horizontal_fov>1.085595</horizontal_fov>
+ <image>
+ <width>640</width>
+ <height>480</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.03</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>camera</cameraName>
+ <frameName>camera_rgb_optical_frame</frameName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..46cf4a9f0d7fdd1002d83fb53a14d2fad5640c24
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi.urdf.xacro
@@ -0,0 +1,217 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_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" rpy="0 0 0"/>
+ <mass value="1.3729096e+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>
+
+ <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>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <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>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="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>
+
+ <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>
+
+ <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>
+ <link name="camera_rgb_frame"/>
+
+ <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>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f3c2b804b7145057e96ebd597cc0eb8a88f38ecc
--- /dev/null
+++ b/src/sim/turtlebot3/turtlebot3/turtlebot3_description/urdf_raw_for_testing/turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
@@ -0,0 +1,217 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi_for_open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base_for_open_manipulator.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" rpy="0 0 0"/>
+ <mass value="1.3729096e+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>
+
+ <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>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+
+ <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>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_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>
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <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>
+
+ <link name="imu_link"/>
+
+ <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>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.045"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="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>
+
+ <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>
+
+ <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>
+ <link name="camera_rgb_frame"/>
+
+ <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>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>