<?xml version="1.0"?>
<robot name="cititruck" xmlns:xacro="http://ros.org/wiki/xacro" >

  <!-- cititruck base -->
  <xacro:include filename="$(find cititruck_description)/urdf/include/cititruck_v1.urdf.xacro" />
  <xacro:include filename="$(find cititruck_description)/urdf/include/common.gazebo.xacro" />

  <xacro:arg name="tf_prefix" default="" />
  <xacro:property name="tf_prefix_" value="$(arg tf_prefix)" />
  <xacro:if value="${tf_prefix_ == ''}">
    <xacro:property name="prefix" value="" />
  </xacro:if>
  <xacro:unless value="${tf_prefix_ == ''}">
    <xacro:property name="prefix" value="${tf_prefix_}/" />
  </xacro:unless>

  <xacro:cititruck prefix="${prefix}" />
  <xacro:controller_plugin_gazebo robot_namespace=""/>

  <!-- instead of the controller_plugin_gazebo, you can use the steerdrive controller like this: -->
  <!-- <xacro:steer_controller_plugin_gazebo 
  prefix="${prefix}"
  steer_joint = "base2steer_joint"
  steerdrive_wheel_joint = "steer2sd_wheel_joint"
  wheel_radius = "0.105"/> -->
</robot>
