git commit -m "first commit"

2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
--- a/mir_robot/mir_description/CHANGELOG.rst
+++ b/mir_robot/mir_description/CHANGELOG.rst
@@ -0,0 +1,133 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mir_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.7 (2023-01-20)
+------------------
+* Don't set cmake_policy CMP0048
+* Contributors: Martin Günther
+
+1.1.6 (2022-06-02)
+------------------
+* URDF: Downsize inertia box, move to lower back
+* URDF: Pull out inertia properties
+* URDF: Update masses according to data sheet
+* URDF: Add mir_250
+* Add arg mir_type to launch files and urdfs
+* Add mir_250 meshes
+* URDF: Make wheels black
+* Add mir_100_v1.urdf.xacro for backwards compatibility
+* Rename mir_100 -> mir
+* Refactor URDF to prepare for MiR250 support
+* Gazebo: Don't manually specify wheel params for diffdrive controller
+* Simplify mir_100 collision mesh further
+* Contributors: Martin Günther
+
+1.1.5 (2022-02-11)
+------------------
+* Remove xacro comment to work around xacro bug
+  Since xacro 1.14.11, xacro now also evaluates expressions in comments
+  and throws an error if the substition argument is undefined. In xacro
+  1.14.12, this error was changed to a warning.
+  This commit removes that warning.
+  Workaround for https://github.com/ros/xacro/issues/309 .
+* xacro: drop --inorder option
+  In-order processing became default in ROS Melodic.
+* Add gazebo_plugins to dependency list (`#103 <https://github.com/DFKI-NI/mir_robot/issues/103>`_)
+  This is needed for the ground truth pose via p3d plugin.
+* Contributors: Martin Günther, moooeeeep
+
+1.1.4 (2021-12-10)
+------------------
+* Replace gazebo_plugins IMU with hector_gazebo_plugins
+* Use cylinders instead of STLs for wheel collision geometries
+  Fixes `#99 <https://github.com/DFKI-NI/mir_robot/issues/99>`_.
+* mir_debug_urdf.launch: Fix GUI display
+* Contributors: Martin Günther
+
+1.1.3 (2021-06-11)
+------------------
+* Merge branch 'melodic-2.8' into noetic
+* Rename tf frame and topic 'odom_comb' -> 'odom'
+  This is how they are called on the real MiR since MiR software 2.0.
+* Contributors: Martin Günther
+
+1.1.2 (2021-05-12)
+------------------
+* Fix laser scan frame_id with gazebo_plugins 2.9.2
+* Contributors: Martin Günther
+
+1.1.1 (2021-02-11)
+------------------
+* Add prepend_prefix_to_laser_frame to URDF and launch files
+  Fixes `#65 <https://github.com/DFKI-NI/mir_robot/issues/65>`_.
+* Add tf_prefix to URDF and launch files
+* Fix typo in robot_namespace
+* Add missing 'xacro:' xml namespace prefixes
+  Macro calls without 'xacro:' prefix are deprecated in Melodic and will
+  be forbidden in Noetic.
+* Contributors: Martin Günther
+
+1.1.0 (2020-06-30)
+------------------
+* Initial release into noetic
+* Contributors: Martin Günther
+
+1.0.6 (2020-06-30)
+------------------
+* Update to non-deprecated robot_state_publisher node
+* Set cmake_policy CMP0048 to fix warning
+* Contributors: Martin Günther
+
+1.0.5 (2020-05-01)
+------------------
+* Switch from Gazebo GPU laser to normal laser plugin
+  The GPU laser plugin has caused multiple people problems before, because
+  it is not compatible with all GPUS: `#1 <https://github.com/DFKI-NI/mir_robot/issues/1>`_
+  `#32 <https://github.com/DFKI-NI/mir_robot/issues/32>`_
+  `#46 <https://github.com/DFKI-NI/mir_robot/issues/46>`_
+  `#52 <https://github.com/DFKI-NI/mir_robot/issues/52>`_
+  The normal laser plugin directly uses the physics engine, so it doesn't
+  depend on any specific GPU. Also, it doesn't slow down the simulation
+  noticeably (maybe 1-2%).
+* Contributors: Martin Günther
+
+1.0.4 (2019-05-06)
+------------------
+* Add legacyModeNS param to gazebo_ros_control plugin
+  This enables the new behavior of the plugin (pid_gains parameter are now
+  in the proper namespace).
+* re-added gazebo friction parameters for the wheels (`#19 <https://github.com/DFKI-NI/mir_robot/issues/19>`_)
+* Contributors: Martin Günther, niniemann
+
+1.0.3 (2019-03-04)
+------------------
+* Merge pull request `#16 <https://github.com/DFKI-NI/mir_robot/issues/16>`_ from niniemann/add-prefix-argument-to-configs
+  Add prefix argument to configs
+* removed prefix from plugin frameName in sick urdf
+  The gazebo plugins automatically use tf_prefix, even if none is set
+  (in that case it defaults to the robot namespace). That's why we can
+  remove the prefix from the plugins configuration, assuming that the
+  robot namespace will be equal to the prefix.
+* adds $(arg prefix) to a lot of configs
+  This is an important step to be able to re-parameterize move base,
+  the diffdrive controller, ekf, amcl and the costmaps for adding a
+  tf prefix to the robots links
+* workaround eval in xacro for indigo support
+* adds tf_prefix argument to imu.gazebo.urdf.xacro
+* Add TFs for ultrasound sensors
+* Contributors: Martin Günther, Nils Niemann
+
+1.0.2 (2018-07-30)
+------------------
+
+1.0.1 (2018-07-17)
+------------------
+* gazebo: Remove leading slashes in TF frames
+  TF2 doesn't like it (e.g., robot_localization).
+* Contributors: Martin Günther
+
+1.0.0 (2018-07-12)
+------------------
+* Initial release
+* Contributors: Martin Günther
--- a/mir_robot/mir_description/CMakeLists.txt
+++ b/mir_robot/mir_description/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.5.1)
+project(mir_description)
+
+find_package(catkin REQUIRED COMPONENTS
+  roslaunch
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+#############
+## Install ##
+#############
+
+# Mark other files for installation (e.g. launch and bag files, etc.)
+install(DIRECTORY
+  config
+  launch
+  meshes
+  rviz
+  urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+#############
+## Testing ##
+#############
+
+roslaunch_add_file_check(launch)
--- a/mir_robot/mir_description/config/diffdrive_controller.yaml
+++ b/mir_robot/mir_description/config/diffdrive_controller.yaml
@@ -0,0 +1,44 @@
+# -----------------------------------
+mobile_base_controller:
+  type        : "diff_drive_controller/DiffDriveController"
+  left_wheel  : '$(arg prefix)left_wheel_joint'
+  right_wheel : '$(arg prefix)right_wheel_joint'
+  publish_rate: 41.2               # this is what the real MiR platform publishes (default: 50)
+  # These covariances are exactly what the real MiR platform publishes
+  pose_covariance_diagonal : [0.00001, 0.00001, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  twist_covariance_diagonal: [0.1, 0.1, 1000000.0, 1000000.0, 1000000.0, 1000.0]
+  enable_odom_tf: false
+
+  # Wheel separation and diameter. These are both optional.
+  # diff_drive_controller will attempt to read either one or both from the
+  # URDF if not specified as a parameter.
+  # We don't set the value here because it's different for each MiR type (100, 250, ...), and
+  # the plugin figures out the correct values.
+  #wheel_separation : 0.445208
+  #wheel_radius : 0.0625
+
+  # Wheel separation and radius multipliers
+  wheel_separation_multiplier: 1.0 # default: 1.0
+  wheel_radius_multiplier    : 1.0 # default: 1.0
+
+  # Velocity commands timeout [s], default 0.5
+  cmd_vel_timeout: 0.5
+
+  # frame_ids (same as real MiR platform)
+  base_frame_id: $(arg prefix)base_footprint # default: base_link
+  odom_frame_id: $(arg prefix)odom           # default: odom
+
+  # Velocity and acceleration limits
+  # Whenever a min_* is unspecified, default to -max_*
+  linear:
+    x:
+      has_velocity_limits    : false
+      max_velocity           : 2.0  # m/s; move_base max_vel_x: 0.8
+      has_acceleration_limits: true
+      max_acceleration       : 3.0  # m/s^2; move_base acc_lim_x: 1.5
+  angular:
+    z:
+      has_velocity_limits    : false
+      max_velocity           : 2.0  # rad/s; move_base max_rot_vel: 1.0
+      has_acceleration_limits: true
+      max_acceleration       : 2.0  # rad/s^2; move_base acc_lim_th: 2.0
--- a/mir_robot/mir_description/config/joint_state_controller.yaml
+++ b/mir_robot/mir_description/config/joint_state_controller.yaml
@@ -0,0 +1,4 @@
+# Publish all joint states -----------------------------------
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
--- a/mir_robot/mir_description/launch/mir_debug_urdf.launch
+++ b/mir_robot/mir_description/launch/mir_debug_urdf.launch
@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+
+<launch>
+  <arg name="mir_type" default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="gui" default="true" />
+
+  <!-- load MiR URDF -->
+  <include file="$(find mir_description)/launch/upload_mir_urdf.launch">
+    <arg name="mir_type" value="$(arg mir_type)" />
+  </include>
+
+  <node if="$(arg gui)"     name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher"     type="joint_state_publisher" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mir_description)/rviz/mir_description.rviz" required="true" />
+</launch>
--- a/mir_robot/mir_description/launch/upload_mir_urdf.launch
+++ b/mir_robot/mir_description/launch/upload_mir_urdf.launch
@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="mir_type"  default="mir_250" doc="The MiR variant. Can be 'mir_100' or 'mir_250' for now." />
+  <arg name="tf_prefix" default="" doc="TF prefix to use for all of the MiR's TF frames"/>
+
+  <param name="robot_description" command="$(find xacro)/xacro $(find mir_description)/urdf/mir.urdf.xacro mir_type:=$(arg mir_type) tf_prefix:=$(arg tf_prefix)" />
+</launch>
--- a/mir_robot/mir_description/meshes/collision/caster_wheel_base.stl
+++ b/mir_robot/mir_description/meshes/collision/caster_wheel_base.stl
--- a/mir_robot/mir_description/meshes/collision/mir_100_base.stl
+++ b/mir_robot/mir_description/meshes/collision/mir_100_base.stl
--- a/mir_robot/mir_description/meshes/collision/mir_250_base.stl
+++ b/mir_robot/mir_description/meshes/collision/mir_250_base.stl
--- a/mir_robot/mir_description/meshes/visual/caster_wheel_base.stl
+++ b/mir_robot/mir_description/meshes/visual/caster_wheel_base.stl
--- a/mir_robot/mir_description/meshes/visual/mir_100_base.stl
+++ b/mir_robot/mir_description/meshes/visual/mir_100_base.stl
--- a/mir_robot/mir_description/meshes/visual/mir_250_base.stl
+++ b/mir_robot/mir_description/meshes/visual/mir_250_base.stl
--- a/mir_robot/mir_description/meshes/visual/sick_lms-100.stl
+++ b/mir_robot/mir_description/meshes/visual/sick_lms-100.stl
--- a/mir_robot/mir_description/meshes/visual/wheel.stl
+++ b/mir_robot/mir_description/meshes/visual/wheel.stl
--- a/mir_robot/mir_description/package.xml
+++ b/mir_robot/mir_description/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mir_description</name>
+  <version>1.1.7</version>
+  <description>URDF description of the MiR robot</description>
+
+  <maintainer email="martin.guenther@dfki.de">Martin Günther</maintainer>
+  <author email="martin.guenther@dfki.de">Martin Günther</author>
+
+  <license>BSD</license>
+
+  <url type="website">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="repository">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="bugtracker">https://github.com/DFKI-NI/mir_robot/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roslaunch</build_depend>
+
+  <build_depend>diff_drive_controller</build_depend>
+  <exec_depend>diff_drive_controller</exec_depend>
+
+  <exec_depend>gazebo_plugins</exec_depend>
+  <exec_depend>gazebo_ros_control</exec_depend>
+  <exec_depend>hector_gazebo_plugins</exec_depend>
+  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>position_controllers</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
--- a/mir_robot/mir_description/rviz/mir_description.rviz
+++ b/mir_robot/mir_description/rviz/mir_description.rviz
@@ -0,0 +1,210 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 81
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 535
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        bl_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        br_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fl_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_rotation_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_caster_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        surface:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.20704937
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.023150593
+        Y: -0.0341755934
+        Z: -2.6775524e-09
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.515398085
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.490397513
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002a9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006700fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000002a9000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000043000002a9000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000022300fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002a900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 59
+  Y: 29
--- a/mir_robot/mir_description/urdf/include/common.gazebo.xacro
+++ b/mir_robot/mir_description/urdf/include/common.gazebo.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="controller_plugin_gazebo" params="robot_namespace">
+    <gazebo>
+      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+        <xacro:unless value="${robot_namespace == ''}">
+          <robotNamespace>${robot_namespace}</robotNamespace>
+        </xacro:unless>
+        <controlPeriod>0.001</controlPeriod>
+        <legacyModeNS>false</legacyModeNS>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/common_properties.urdf.xacro
+++ b/mir_robot/mir_description/urdf/include/common_properties.urdf.xacro
@@ -0,0 +1,84 @@
+<?xml version="1.0" ?>
+<!--
+  Various useful properties such as constants and materials
+ -->
+<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- #################### RViz materials #################### -->
+  <xacro:property name="material_white">
+    <material name="white">
+      <color rgba="1 1 1 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_yellow">
+    <material name="yellow">
+      <color rgba="${255/255} ${226/255} ${0/255} 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_almost_white">
+    <material name="almost_white">
+      <color rgba="0.9 0.9 0.9 1" />
+    </material>
+  </xacro:property>
+  <xacro:property name="material_grey">
+    <material name="grey">
+      <color rgba="0.5 0.5 0.5 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_light_grey">
+    <material name="light_grey">
+      <color rgba="0.6 0.6 0.6 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_dark_grey">
+    <material name="dark_grey">
+      <color rgba="0.3 0.3 0.3 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_black">
+    <material name="black">
+      <color rgba="0.1 0.1 0.1 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_aluminum">
+    <material name="aluminum">
+      <color rgba="0.8 0.8 0.8 1" />
+    </material>
+  </xacro:property>
+  <xacro:property name="material_silver">
+    <material name="silver">
+      <color rgba="0.79 0.82 0.93 1" />
+    </material>
+  </xacro:property>
+
+  <!-- #################### inertials with origin #################### -->
+  <!-- see https://secure.wikimedia.org/wikipedia/en/wiki/List_of_moment_of_inertia_tensors -->
+  <xacro:macro name="sphere_inertial" params="radius mass *origin">
+    <inertial>
+      <mass value="${mass}" />
+      <xacro:insert_block name="origin" />
+      <inertia ixx="${0.4 * mass * radius * radius}" ixy="0.0" ixz="0.0"
+        iyy="${0.4 * mass * radius * radius}" iyz="0.0"
+        izz="${0.4 * mass * radius * radius}" />
+    </inertial>
+  </xacro:macro>
+
+  <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
+    <inertial>
+      <mass value="${mass}" />
+      <xacro:insert_block name="origin" />
+      <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
+        iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
+        izz="${0.5 * mass * radius * radius}" />
+    </inertial>
+  </xacro:macro>
+
+  <xacro:macro name="box_inertial" params="x y z mass *origin">
+    <inertial>
+      <mass value="${mass}" />
+      <xacro:insert_block name="origin" />
+      <inertia ixx="${0.0833333 * mass * (y*y + z*z)}" ixy="0.0" ixz="0.0"
+        iyy="${0.0833333 * mass * (x*x + z*z)}" iyz="0.0"
+        izz="${0.0833333 * mass * (x*x + y*y)}" />
+    </inertial>
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/imu.gazebo.urdf.xacro
+++ b/mir_robot/mir_description/urdf/include/imu.gazebo.urdf.xacro
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- If tf_prefix is given, use "frame tf_prefix/imu_frame", else "imu_frame" -->
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:property name="tf_prefix" value="$(arg tf_prefix)" />
+  <xacro:if value="${tf_prefix == ''}">
+      <xacro:property name="imu_frame" value="imu_frame" />
+  </xacro:if>
+  <xacro:unless value="${tf_prefix == ''}">
+      <xacro:property name="imu_frame" value="$(arg tf_prefix)/imu_frame" />
+  </xacro:unless>
+
+
+  <xacro:macro name="imu_gazebo" params="link imu_topic update_rate">
+    <gazebo>
+      <plugin name="imu_plugin" filename="libhector_gazebo_ros_imu.so">
+        <updateRate>${update_rate}</updateRate>
+        <bodyName>${link}</bodyName>
+        <frameId>${imu_frame}</frameId>  <!-- from real MiR -->
+        <topicName>${imu_topic}</topicName>
+        <accelDrift>0.0 0.0 0.0</accelDrift>
+        <accelGaussianNoise>${sqrt(5e-05)} ${sqrt(0.0001)} ${sqrt(0.00013)}</accelGaussianNoise>    <!-- real MiR linear_acceleration_covariance: [5e-05, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.00013] -->
+        <rateDrift>0.0 0.0 0.0</rateDrift>
+        <rateGaussianNoise>${sqrt(8e-06)} ${sqrt(8e-06)} ${sqrt(3e-07)}</rateGaussianNoise>         <!-- real MiR angular_velocity_covariance: [8e-06, 0.0, 0.0, 0.0, 8e-06, 0.0, 0.0, 0.0, 3e-07] -->
+        <yawDrift>0.0</yawDrift>
+        <yawGaussianNoise>${sqrt(0.1)}</yawGaussianNoise>                                           <!-- real MiR orientation_covariance: [0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1] -->
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/mir.gazebo.xacro
+++ b/mir_robot/mir_description/urdf/include/mir.gazebo.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="diff_controller_plugin_gazebo" params="prefix left_wheel_joint right_wheel_joint wheel_separation wheel_radius">
+    <gazebo>
+      <plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
+        <legacyMode>false</legacyMode>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>1000.0</updateRate>
+        <leftJoint>${left_wheel_joint}</leftJoint>
+        <rightJoint>${right_wheel_joint}</rightJoint>
+        <wheelSeparation>${wheel_separation}</wheelSeparation>
+        <wheelDiameter>${2*wheel_radius}</wheelDiameter>
+        <wheelTorque>10</wheelTorque>
+        <publishTf>1</publishTf>
+        <odometryFrame>map</odometryFrame>
+        <commandTopic>mobile_base_controller/cmd_vel</commandTopic>
+        <odometryTopic>mobile_base_controller/odom</odometryTopic>
+        <robotBaseFrame>base_footprint</robotBaseFrame>
+        <wheelAcceleration>2.8</wheelAcceleration>
+        <publishWheelJointState>true</publishWheelJointState>
+        <publishWheelTF>false</publishWheelTF>
+        <odometrySource>world</odometrySource>
+        <rosDebugLevel>Debug</rosDebugLevel>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="set_wheel_friction" params="link friction">
+    <gazebo reference="${link}">
+      <mu1 value="${friction}"/>
+      <mu2 value="${friction}"/>
+      <kp value="10000000.0"/>
+      <kd value="1.0"/>
+      <minDepth>0.01</minDepth>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="set_all_wheel_frictions" params="prefix">
+    <xacro:set_wheel_friction link="${prefix}left_wheel_link" friction="200"/>
+    <xacro:set_wheel_friction link="${prefix}right_wheel_link" friction="200"/>
+    <xacro:set_wheel_friction link="${prefix}fl_caster_wheel_link" friction="1"/>
+    <xacro:set_wheel_friction link="${prefix}fr_caster_wheel_link" friction="1"/>
+    <xacro:set_wheel_friction link="${prefix}bl_caster_wheel_link" friction="1"/>
+    <xacro:set_wheel_friction link="${prefix}br_caster_wheel_link" friction="1"/>
+  </xacro:macro>
+
+  <xacro:macro name="p3d_base_controller" params="prefix">
+    <gazebo>
+      <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>50.0</updateRate>
+        <bodyName>${prefix}base_footprint</bodyName>
+        <topicName>base_pose_ground_truth</topicName>
+        <gaussianNoise>0.01</gaussianNoise>
+        <frameName>map</frameName>
+        <xyzOffsets>0 0 0</xyzOffsets>
+        <rpyOffsets>0 0 0</rpyOffsets>
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/mir.transmission.xacro
+++ b/mir_robot/mir_description/urdf/include/mir.transmission.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="mir_wheel_transmission" params="prefix locationprefix">
+    <transmission name="${prefix}${locationprefix}_wheel_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${prefix}${locationprefix}_wheel_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+      <actuator name="${prefix}${locationprefix}_wheel_motor">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+    </transmission>
+  </xacro:macro>
+
+  <xacro:macro name="mir_wheel_transmissions" params="prefix">
+    <xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="left"/>
+    <xacro:mir_wheel_transmission prefix="${prefix}" locationprefix="right"/>
+  </xacro:macro>
+
+</robot>
--- a/mir_robot/mir_description/urdf/include/mir_100_v1.urdf.xacro
+++ b/mir_robot/mir_description/urdf/include/mir_100_v1.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro"
+       name="mir_100" >
+
+  <!-- This file is only for backward compatibility before the "mir_100" to "mir" rename. -->
+
+  <xacro:include filename="$(find mir_description)/urdf/include/mir_v1.urdf.xacro" />
+
+  <xacro:macro name="mir_100" params="prefix">
+    <xacro:mir prefix="${prefix}" />
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/mir_v1.urdf.xacro
+++ b/mir_robot/mir_description/urdf/include/mir_v1.urdf.xacro
@@ -0,0 +1,308 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="mir_type" default="mir_250" />      <!-- The MiR variant. Can be "mir_100" or "mir_250" for now.-->
+  <xacro:property name="mir_type" value="$(arg mir_type)" />  <!-- necessary because args cannot be accessed inside ${} expressions -->
+
+  <xacro:include filename="$(find mir_description)/urdf/include/common_properties.urdf.xacro" />
+  <xacro:include filename="$(find mir_description)/urdf/include/imu.gazebo.urdf.xacro" />
+  <xacro:include filename="$(find mir_description)/urdf/include/mir.gazebo.xacro" />
+  <xacro:include filename="$(find mir_description)/urdf/include/mir.transmission.xacro" />
+  <xacro:include filename="$(find mir_description)/urdf/include/sick_s300.urdf.xacro" />
+
+  <xacro:property name="deg_to_rad" value="0.017453293" />
+
+  <!-- The inertia for the MiR platform is intentionally chosen to be smaller than
+       the bounding box and also shifted a bit to the back, because most of the mass
+       is in the lower center back (because of the batteries). -->
+  <xacro:property name="mir_base_inertial_x" value="-0.05" />
+  <xacro:property name="mir_base_inertial_y" value="0.0" />
+  <xacro:property name="mir_base_inertial_z" value="0.15" />
+  <xacro:property name="mir_base_inertial_x_length" value="0.50" />
+  <xacro:property name="mir_base_inertial_y_length" value="0.30" />
+  <xacro:property name="mir_base_inertial_z_length" value="0.20" />
+
+  <xacro:if value="${mir_type == 'mir_100'}">
+    <xacro:property name="mir_base_mass" value="77.0" />
+    <xacro:property name="mir_act_wheel_radius" value="0.0625" />
+    <xacro:property name="mir_act_wheel_width" value="0.032" />
+    <xacro:property name="mir_act_wheel_mass" value="1.0" />
+    <xacro:property name="mir_act_wheel_dx" value="0.037646" />
+    <xacro:property name="mir_act_wheel_dy" value="0.222604" />
+  </xacro:if>
+
+  <xacro:if value="${mir_type == 'mir_250'}">
+    <xacro:property name="mir_base_mass" value="97.0" />
+    <xacro:property name="mir_act_wheel_radius" value="0.100" />
+    <xacro:property name="mir_act_wheel_width" value="0.038" />
+    <xacro:property name="mir_act_wheel_mass" value="1.0" />
+    <xacro:property name="mir_act_wheel_dx" value="-0.004485" />
+    <xacro:property name="mir_act_wheel_dy" value="0.2015" />
+  </xacro:if>
+
+  <xacro:property name="mir_caster_wheel_radius" value="0.0625" />
+  <xacro:property name="mir_caster_wheel_width" value="0.032" />
+  <xacro:property name="mir_caster_wheel_mass" value="1.0" />
+  <xacro:property name="mir_caster_wheel_dx" value="-0.0382" />
+  <xacro:property name="mir_caster_wheel_dy" value="0" />
+  <xacro:property name="mir_caster_wheel_dz" value="-0.094" />
+  <xacro:property name="mir_front_caster_wheel_base_dx" value="0.3037" />
+  <xacro:if value="${mir_type == 'mir_100'}">
+    <xacro:property name="mir_back_caster_wheel_base_dx"  value="0.3078" />
+    <xacro:property name="mir_caster_wheel_base_dy" value="0.203" />
+  </xacro:if>
+
+  <xacro:if value="${mir_type == 'mir_250'}">
+    <xacro:property name="mir_back_caster_wheel_base_dx"  value="0.296" />
+    <xacro:property name="mir_caster_wheel_base_dy" value="0.188" />
+  </xacro:if>
+  <xacro:property name="mir_caster_wheel_base_dz" value="${mir_caster_wheel_radius - mir_caster_wheel_dz}" />
+
+  <!-- from visually matching up the meshes of the MiR and the laser scanner -->
+  <xacro:if value="${mir_type == 'mir_100'}">
+    <xacro:property name="laser_dx" value="0.392" />
+    <xacro:property name="laser_dy" value="0.2358" />
+    <xacro:property name="laser_dz" value="0.1914" />
+  </xacro:if>
+
+  <xacro:if value="${mir_type == 'mir_250'}">
+    <xacro:property name="laser_dx" value="0.315" />
+    <xacro:property name="laser_dy" value="0.205" />
+    <xacro:property name="laser_dz" value="0.1914" />
+  </xacro:if>
+ 
+
+  <xacro:macro name="actuated_wheel" params="prefix locationprefix locationright">
+    <joint name="${prefix}${locationprefix}_wheel_joint" type="continuous">
+      <origin xyz="0.0 ${-mir_act_wheel_dy * locationright} ${mir_act_wheel_radius}" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}${locationprefix}_wheel_link" />
+      <axis xyz="0 1 0" />
+      <limit effort="100" velocity="20.0" />
+    </joint>
+
+    <link name="${prefix}${locationprefix}_wheel_link">
+      <xacro:cylinder_inertial mass="${mir_act_wheel_mass}" radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}">
+        <origin xyz="0 0 0" rpy="${0.5 * pi} 0 0" />
+      </xacro:cylinder_inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
+        <geometry>
+          <cylinder radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}" />
+        </geometry>
+        <xacro:insert_block name="material_black" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
+        <geometry>
+          <cylinder radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${locationprefix}_wheel_link">
+      <material>Gazebo/FlatBlack</material>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="caster_wheel" params="prefix locationprefix locationright wheel_base_dx">
+    <!-- caster hub -->
+    <joint name="${prefix}${locationprefix}_caster_rotation_joint" type="continuous">
+      <origin xyz="${wheel_base_dx} ${-mir_caster_wheel_base_dy * locationright} ${mir_caster_wheel_base_dz}" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}${locationprefix}_caster_rotation_link" />
+      <axis xyz="0 0 1" />
+      <dynamics damping="0.01" friction="0.0"/>
+    </joint>
+
+    <link name="${prefix}${locationprefix}_caster_rotation_link">
+      <inertial>
+        <!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
+        <origin xyz="0 0 -0.042500000044" rpy="${24 * deg_to_rad} 0 ${0.5 * pi} " />
+        <mass value="0.3097539019" />
+        <inertia
+          ixx="0.0005844517978"
+          ixy="0"
+          ixz="0"
+          iyy="0.00052872551237"
+          iyz="0"
+          izz="0.00017923555074" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl" />
+        </geometry>
+        <xacro:if value="${mir_type == 'mir_100'}">
+          <xacro:insert_block name="material_silver" />
+        </xacro:if>
+        <xacro:if value="${mir_type == 'mir_250'}">
+          <xacro:insert_block name="material_black" />
+        </xacro:if>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${locationprefix}_caster_rotation_link">
+      <xacro:if value="${mir_type == 'mir_100'}">
+        <material>Gazebo/Grey</material>
+      </xacro:if>
+      <xacro:if value="${mir_type == 'mir_250'}">
+        <material>Gazebo/FlatBlack</material>
+      </xacro:if>
+    </gazebo>
+
+    <!-- caster wheel -->
+    <joint name="${prefix}${locationprefix}_caster_wheel_joint" type="continuous">
+      <origin xyz="${mir_caster_wheel_dx} ${-mir_caster_wheel_dy * locationright} ${mir_caster_wheel_dz}" rpy="0 0 0" />
+      <parent link="${prefix}${locationprefix}_caster_rotation_link" />
+      <child link="${prefix}${locationprefix}_caster_wheel_link" />
+      <axis xyz="0 1 0" />
+    </joint>
+
+    <link name="${prefix}${locationprefix}_caster_wheel_link">
+      <xacro:cylinder_inertial mass="${mir_caster_wheel_mass}" radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}">
+        <origin xyz="0 0 0" rpy="${0.5 * pi} 0 0" />
+      </xacro:cylinder_inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
+        <geometry>
+          <cylinder radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}" />
+        </geometry>
+        <xacro:insert_block name="material_black" />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
+        <geometry>
+          <cylinder radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${locationprefix}_caster_wheel_link">
+      <material>Gazebo/FlatBlack</material>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="mir" params="prefix">
+    <link name="${prefix}base_footprint" />
+
+    <joint name="${prefix}base_joint" type="fixed">
+      <parent link="${prefix}base_footprint" />
+      <child link="${prefix}base_link" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="${prefix}base_link">
+      <xacro:box_inertial mass="${mir_base_mass}" x="${mir_base_inertial_x_length}" y="${mir_base_inertial_y_length}" z="${mir_base_inertial_z_length}">
+        <origin xyz="${mir_base_inertial_x + mir_act_wheel_dx} ${mir_base_inertial_y} ${mir_base_inertial_z}" rpy="0 0 0" />
+      </xacro:box_inertial>
+      <visual>
+        <origin xyz="${mir_act_wheel_dx} 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/visual/${mir_type}_base.stl" />
+        </geometry>
+        <xacro:if value="${mir_type == 'mir_100'}">
+          <xacro:insert_block name="material_white" />
+        </xacro:if>
+        <xacro:if value="${mir_type == 'mir_250'}">
+          <xacro:insert_block name="material_dark_grey" />
+        </xacro:if>
+      </visual>
+      <collision>
+        <origin xyz="${mir_act_wheel_dx} 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/collision/${mir_type}_base.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}base_link">
+      <xacro:if value="${mir_type == 'mir_100'}">
+        <material>Gazebo/White</material>
+      </xacro:if>
+      <xacro:if value="${mir_type == 'mir_250'}">
+        <material>Gazebo/DarkGrey</material>
+      </xacro:if>
+    </gazebo>
+
+    <!-- IMU -->
+    <joint name="${prefix}base_link_to_imu_joint" type="fixed">
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}imu_link" />
+      <origin xyz="0.0 0.0 0.25" rpy="0 0 0" />  <!-- same as real MiR -->
+    </joint>
+
+    <link name="${prefix}imu_link" />
+
+    <xacro:imu_gazebo link="${prefix}imu_link" imu_topic="imu_data" update_rate="50.0" />
+
+    <!-- Create an alias for imu_link. This is necessary because the real MiR's
+         TF has imu_link, but the imu_data topic is published in the imu_frame
+         frame. -->
+    <joint name="${prefix}imu_link_to_imu_frame_joint" type="fixed">
+      <parent link="${prefix}imu_link" />
+      <child link="${prefix}imu_frame" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="${prefix}imu_frame" />
+
+    <!-- Laser scanners -->
+    <joint name="${prefix}base_link_to_front_laser_joint" type="fixed">
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}front_laser_link" />
+      <origin xyz="${laser_dx + mir_act_wheel_dx} ${laser_dy} ${laser_dz}" rpy="0.0 0.0 ${0.25 * pi}" />
+    </joint>
+    <xacro:sick_s300 prefix="${prefix}" link="front_laser_link" topic="f_scan" />
+
+    <joint name="${prefix}base_link_to_back_laser_joint" type="fixed">
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}back_laser_link" />
+      <origin xyz="${-laser_dx + mir_act_wheel_dx} ${-laser_dy} ${laser_dz}" rpy="0.0 0.0 ${-0.75 * pi}" />
+    </joint>
+
+    <xacro:sick_s300 prefix="${prefix}" link="back_laser_link" topic="b_scan" />
+
+    <!-- Ultrasound sensors -->
+    <joint name="${prefix}us_1_joint" type="fixed">   <!-- right ultrasound -->
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}us_1_frame" />
+      <origin xyz="0.45 -0.12 0.16 " rpy="0 0 0" />  <!-- from visually matching to the mesh of the MiR -->
+    </joint>
+
+    <link name="${prefix}us_1_frame" />
+
+    <joint name="${prefix}us_2_joint" type="fixed">   <!-- left ultrasound -->
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}us_2_frame" />
+      <origin xyz="0.45 0.12 0.16 " rpy="0 0 0" />  <!-- from visually matching to the mesh of the MiR -->
+    </joint>
+
+    <link name="${prefix}us_2_frame" />
+
+    <!-- wheels -->
+    <xacro:actuated_wheel prefix="${prefix}" locationprefix="left" locationright="-1"/>
+    <xacro:actuated_wheel prefix="${prefix}" locationprefix="right" locationright="1"/>
+    <xacro:caster_wheel prefix="${prefix}" locationprefix="fl" locationright="-1" wheel_base_dx="${mir_front_caster_wheel_base_dx + mir_act_wheel_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" locationprefix="fr" locationright="1" wheel_base_dx="${mir_front_caster_wheel_base_dx + mir_act_wheel_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" locationprefix="bl" locationright="-1" wheel_base_dx="${-mir_back_caster_wheel_base_dx + mir_act_wheel_dx}"/>
+    <xacro:caster_wheel prefix="${prefix}" locationprefix="br" locationright="1" wheel_base_dx="${-mir_back_caster_wheel_base_dx + mir_act_wheel_dx}"/>
+
+    <joint name="${prefix}base_link_surface_joint" type="fixed">
+      <origin xyz="${mir_act_wheel_dx} 0 0.352" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}surface" />
+      <axis xyz="0 0 1" />
+    </joint>
+
+    <link name="${prefix}surface"/>
+
+    <xacro:mir_wheel_transmissions prefix="${prefix}"/>
+
+    <!-- set the gazebo friction parameters for the wheels -->
+    <xacro:set_all_wheel_frictions prefix="${prefix}"/>
+
+    <xacro:p3d_base_controller prefix="${prefix}" />
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/include/sick_s300.urdf.xacro
+++ b/mir_robot/mir_description/urdf/include/sick_s300.urdf.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find mir_description)/urdf/include/common_properties.urdf.xacro" />
+
+  <xacro:property name="laser_x" value="0.156" />
+  <xacro:property name="laser_y" value="0.155" />
+  <xacro:property name="laser_z" value="0.185" />
+  <xacro:property name="laser_mass" value="1.2" />
+
+  <xacro:macro name="sick_s300" params="link topic prefix">
+    <link name="${prefix}${link}">
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="${pi} 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl" />
+        </geometry>
+        <!-- <xacro:insert_block name="material_yellow" /> -->
+        <xacro:insert_block name="material_black" />
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 0.0" rpy="${pi} 0 0" />
+        <geometry>
+          <mesh filename="package://mir_description/meshes/visual/sick_lms-100.stl" />
+        </geometry>
+      </collision>
+      <xacro:box_inertial x="${laser_x}" y="${laser_y}" z="${laser_z}" mass="${laser_mass}">
+        <origin xyz="0 0 0" />
+      </xacro:box_inertial>
+    </link>
+
+    <gazebo reference="${prefix}${link}">
+      <!-- <material value="Gazebo/Yellow" /> -->
+      <material value="Gazebo/FlatBlack" />
+
+      <sensor type="ray" name="${prefix}${link}">
+        <pose>0 0 0 0 0 0</pose>
+        <visualize>false</visualize>
+        <update_rate>12.5</update_rate>
+        <ray>
+          <scan>
+            <horizontal>
+              <samples>541</samples>
+              <resolution>1</resolution>  <!-- has to be 1; actual resolution will be computed from number of samples + min_angle/max_angle -->
+              <!-- <min_angle>-2.35619449615</min_angle>
+              <max_angle>2.35619449615</max_angle> -->
+              <min_angle>-2.094395102</min_angle>
+              <max_angle>2.181661565</max_angle>
+            </horizontal>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>29.0</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <!-- Noise parameters based on published spec for S300 achieving
+                 "+-29mm" accuracy at range < 3m (~0.01 of the range) at
+                 1 sigma. -->
+            <mean>0.0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </ray>
+        <plugin name="gazebo_ros_${link}_controller" filename="libgazebo_ros_laser.so">
+          <frameName>${prefix}${link}</frameName>
+          <topicName>${topic}</topicName>
+        </plugin>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>
--- a/mir_robot/mir_description/urdf/mir.urdf.xacro
+++ b/mir_robot/mir_description/urdf/mir.urdf.xacro
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro"
+       name="mir" >
+
+  <!-- MiR base -->
+  <xacro:include filename="$(find mir_description)/urdf/include/mir_v1.urdf.xacro" />
+  <xacro:include filename="$(find mir_description)/urdf/include/common.gazebo.xacro" />
+
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:property name="tf_prefix_" value="$(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="${tf_prefix_}/" />
+  </xacro:unless>
+
+  <xacro:mir prefix="${prefix}" />
+  <xacro:controller_plugin_gazebo robot_namespace=""/>
+
+  <!-- instead of the controller_plugin_gazebo, you can use the diffdrive controller like this: -->
+  <!-- <xacro:diff_controller_plugin_gazebo prefix=""
+    left_wheel_joint="left_wheel_joint"
+    right_wheel_joint="right_wheel_joint"
+    wheel_separation="${2*mir_act_wheel_dy}"
+    wheel_radius="${mir_act_wheel_radius}"/> -->
+
+</robot>