From 9a4cdb897baa67a2ea0cd406cc8e99ed1b6decf2 Mon Sep 17 00:00:00 2001
From: Martin2 DLOUHY <martin2.dlouhy@valeo.com>
Date: Tue, 30 Mar 2021 22:39:17 +0200
Subject: [PATCH] Robotika Kloubak config 1 - fix cameras, lidar and symmetry

The wide angle cameras are not properly simulated so identical version to Freyja is used now.
URFD was regenerated to use proper meshes, fixed position of lidars and symmetry of robot.
---
 .../model.sdf                                 |  40 +-
 .../urdf/model.urdf                           | 144 +---
 .../urdf/model.xacro                          | 678 ++++++++----------
 3 files changed, 347 insertions(+), 515 deletions(-)

diff --git a/submitted_models/robotika_kloubak_sensor_config_1/model.sdf b/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
index 7f25b3b2..b292aef7 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
@@ -251,7 +251,7 @@
             https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
         -->
         <sensor name="lidar_front" type="gpu_lidar">
-            <pose>0.04 0 0.235 0 0 0</pose>
+            <pose>0.08 0 0.25 0 0 0</pose>
             <update_rate>15</update_rate>
             <lidar>
                 <scan>
@@ -284,16 +284,16 @@
             <always_on>1</always_on>
             <update_rate>10</update_rate>
             <camera name="camera_front">
-                <horizontal_fov>3.072</horizontal_fov>
+                <horizontal_fov>2.27</horizontal_fov>
                 <lens>
                     <intrinsics>
                         <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                        <fx>17.8229</fx>
-                        <fy>17.8229</fy>
+                        <fx>149.01</fx>
+                        <fy>149.01</fy>
                         <!-- cx = ( width - 1 ) / 2 -->
-                        <cx>511.5</cx>
+                        <cx>339.5</cx>
                         <!-- cy = ( height - 1 ) / 2 -->
-                        <cy>383.5</cy>
+                        <cy>179.5</cy>
                         <s>0</s>
                     </intrinsics>
                 </lens>
@@ -306,8 +306,8 @@
                     <center>0.5 0.5</center>
                 </distortion>
                 <image>
-                    <width>1024</width>
-                    <height>768</height>
+                    <width>640</width>
+                    <height>360</height>
                     <format>R8G8B8</format>
                 </image>
                 <clip>
@@ -388,7 +388,7 @@
     
     
     <link name='chassis_back'>
-        <pose>-0.7 0 0.2 0 0 0</pose>
+        <pose>-0.671 0 0.2 0 0 0</pose>
         <inertial>
             <pose>0.025 0 0.116 0 0 0</pose>
             <mass>7.2</mass>
@@ -582,7 +582,7 @@
             https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
         -->
         <sensor name="lidar_back" type="gpu_lidar">
-            <pose>-0.06 0 0.295 0 0 3.1415927</pose>
+            <pose>-0.08 0 0.345 0 0 3.1415927</pose>
             <update_rate>15</update_rate>
             <lidar>
                 <scan>
@@ -615,16 +615,16 @@
             <always_on>1</always_on>
             <update_rate>10</update_rate>
             <camera name="camera_back">
-                <horizontal_fov>3.072</horizontal_fov>
+                <horizontal_fov>2.27</horizontal_fov>
                 <lens>
                     <intrinsics>
                         <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                        <fx>17.8229</fx>
-                        <fy>17.8229</fy>
+                        <fx>149.01</fx>
+                        <fy>149.01</fy>
                         <!-- cx = ( width - 1 ) / 2 -->
-                        <cx>511.5</cx>
+                        <cx>339.5</cx>
                         <!-- cy = ( height - 1 ) / 2 -->
-                        <cy>383.5</cy>
+                        <cy>179.5</cy>
                         <s>0</s>
                     </intrinsics>
                 </lens>
@@ -637,8 +637,8 @@
                     <center>0.5 0.5</center>
                 </distortion>
                 <image>
-                    <width>1024</width>
-                    <height>768</height>
+                    <width>640</width>
+                    <height>360</height>
                     <format>R8G8B8</format>
                 </image>
                 <clip>
@@ -719,7 +719,7 @@
     
     
     <link name='axle_back'>
-        <pose>-0.729 0 0.183 0 0 0</pose>
+        <pose>-0.7 0 0.183 0 0 0</pose>
         <inertial>
             <pose>0 0 0 0 0 0</pose>
             <mass>0.8</mass>
@@ -839,7 +839,7 @@
         
         
         <link name="rear_left_wheel">
-            <pose>-0.729 0.25 0.172 0 0 0</pose>
+            <pose>-0.7 0.25 0.172 0 0 0</pose>
             <inertial>
                 <mass>3.5</mass>
                 <inertia>
@@ -882,7 +882,7 @@
         </link>
 
         <link name="rear_right_wheel">
-            <pose>-0.729 -0.25 0.172 0 0 0</pose>
+            <pose>-0.7 -0.25 0.172 0 0 0</pose>
             <inertial>
                 <mass>3.5</mass>
                 <inertia>
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
index 3f20b52a..52ddc4f2 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
+++ b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
@@ -55,39 +55,9 @@
       </geometry>
     </collision>
     <visual name='visual_chassis'>
-      <origin xyz='0 0 0.2' rpy='0 -0 0'/>
+      <origin xyz='-0.34 0 0.03' rpy='0 -0 0'/>
       <geometry>
-        <mesh filename='meshes/chassis_front.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='0.09 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_front'>
-      <origin xyz='0.015 0 0.38' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_front'>
-      <origin xyz='0.114 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_front'>
-      <origin xyz='0.15 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_front'>
-      <origin xyz='0.15 0 0.313' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -105,13 +75,13 @@
   </sensor>
   <sensor name='lidar_front' update_rate='15'>
     <parent link='chassis_front'/>
-    <origin xyz='0.04 0 0.235' rpy='0 -0 0'/>
+    <origin xyz='0.08 0 0.25' rpy='0 -0 0'/>
   </sensor>
   <sensor name='camera_front' update_rate='10'>
     <parent link='chassis_front'/>
-    <origin xyz='0.15 0 0.192' rpy='0 -0 0'/>
+    <origin xyz='0.155 -0.0075 0.193' rpy='0 -0 0'/>
     <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='depth_camera_front' update_rate='20'>
@@ -152,39 +122,9 @@
       </geometry>
     </collision>
     <visual name='visual_chassis'>
-      <origin xyz='-0.35 0 -0.02' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_back.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='-0.46 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_back'>
-      <origin xyz='-0.385 0 0.22' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_back'>
-      <origin xyz='-0.484 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_back'>
-      <origin xyz='-0.55 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_back'>
-      <origin xyz='-0.55 0 0.093' rpy='0 -0 0'/>
+      <origin xyz='-0.01 0 -0.19' rpy='0 -0 0'/>
       <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -198,13 +138,13 @@
   </sensor>
   <sensor name='lidar_back' update_rate='15'>
     <parent link='chassis_back'/>
-    <origin xyz='-0.06 0 0.295' rpy='0 -0 -3.14159'/>
+    <origin xyz='-0.08 0 0.345' rpy='0 -0 -3.14159'/>
   </sensor>
   <sensor name='camera_back' update_rate='10'>
     <parent link='chassis_back'/>
-    <origin xyz='-0.17 0 0.252' rpy='0 -0 -3.14159'/>
+    <origin xyz='-0.185 -0.001 0.269' rpy='0 -0 -3.14159'/>
     <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='depth_camera_back' update_rate='20'>
@@ -227,9 +167,9 @@
       </geometry>
     </collision>
     <visual name='visual'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <origin xyz='-0.0132 0 0' rpy='0 -0 0'/>
       <geometry>
-        <box size='0.04 0.42 0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -242,19 +182,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -267,19 +201,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -292,19 +220,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -317,59 +239,53 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
   <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0 0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='0 0.25 0.172' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='front_left_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='0 -0.25 0.172' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='front_right_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 0.25 0.172' rpy='0 -0 0'/>
     <parent link='axle_back'/>
     <child link='rear_left_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 -0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 -0.25 0.172' rpy='0 -0 0'/>
     <parent link='axle_back'/>
     <child link='rear_right_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='main_joint' type='revolute'>
-    <origin xyz='-0.35 0 0.22' rpy='0 -0 0'/>
+    <origin xyz='-0.321 0 0.22' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='chassis_back'/>
     <axis xyz='0 0 1'/>
     <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
   </joint>
   <joint name='axle_joint' type='revolute'>
-    <origin xyz='-0.7 0 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 0 0.183' rpy='0 -0 0'/>
     <parent link='chassis_back'/>
     <child link='axle_back'/>
     <axis xyz='1 0 0'/>
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
index 24196a1e..36d8e16b 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
@@ -1,381 +1,297 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name='robotika_kloubak_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
-  <xacro:arg name="name" default="robotika_kloubak_sensor_config_1"/>
-  <xacro:property name="robot_namespace" value="$(arg name)"/>
-
-  <link name='${robot_namespace}/chassis_front'>
-    <inertial>
-      <origin xyz='-0.05 0 0.28' rpy='0 -0 0'/>
-      <mass value='8'/>
-      <inertia ixx='0.1119' ixy='0' ixz='0' iyy='0.1286' iyz='0' izz='0.2159'/>
-    </inertial>
-    <collision name='collision_front_box'>
-      <origin xyz='0 0 0.28' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.3 0.4 0.16'/>
-      </geometry>
-    </collision>
-    <collision name='collision_bar'>
-      <origin xyz='-0.17 0 0.22' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.3 0.04 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_joint_upper'>
-      <origin xyz='-0.335 0 0.25' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.06 0.02'/>
-      </geometry>
-    </collision>
-    <collision name='collision_joint_bottom'>
-      <origin xyz='-0.335 0 0.19' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.06 0.02'/>
-      </geometry>
-    </collision>
-    <collision name='collision_wheel_hinge_left'>
-      <origin xyz='0 0.18 0.18' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.06 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_wheel_hinge_right'>
-      <origin xyz='0 -0.18 0.18' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.06 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_light_lidar_camera'>
-      <origin xyz='0.05 0 0.4325' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.2 0.15 0.145'/>
-      </geometry>
-    </collision>
-    <collision name='collision_depth_camera_front'>
-      <origin xyz='0.165 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.2 0.06'/>
-      </geometry>
-    </collision>
-    <visual name='visual_chassis'>
-      <origin xyz='0 0 0.2' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_front.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='0.09 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_front'>
-      <origin xyz='0.015 0 0.38' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_front'>
-      <origin xyz='0.114 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_front'>
-      <origin xyz='0.15 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_front'>
-      <origin xyz='0.15 0 0.313' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-  </link>
-  <sensor name='imu_sensor_front' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='magnetometer_front' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='air_pressure' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='lidar_front' update_rate='15'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.04 0 0.235' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='camera_front' update_rate='10'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.15 0 0.192' rpy='0 -0 0'/>
-    <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='depth_camera_front' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.18 0 0.113' rpy='0 -0 0'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <link name='${robot_namespace}/chassis_back'>
-    <inertial>
-      <origin xyz='-0.325 0 0.096' rpy='0 -0 0'/>
-      <mass value='7.2'/>
-      <inertia ixx='0.0468' ixy='0' ixz='0' iyy='0.1117' iyz='0' izz='0.1228'/>
-    </inertial>
-    <collision name='collision_back_box'>
-      <origin xyz='-0.35 0 0.11' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.34 0.24 0.18'/>
-      </geometry>
-    </collision>
-    <collision name='collision_bar'>
-      <origin xyz='-0.225 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.45 0.04 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_light_lidar_camera'>
-      <origin xyz='-0.42 0 0.2725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.2 0.15 0.145'/>
-      </geometry>
-    </collision>
-    <collision name='collision_depth_camera_back'>
-      <origin xyz='-0.535 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.2 0.06'/>
-      </geometry>
-    </collision>
-    <visual name='visual_chassis'>
-      <origin xyz='-0.35 0 -0.02' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_back.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='-0.46 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_back'>
-      <origin xyz='-0.385 0 0.22' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_back'>
-      <origin xyz='-0.484 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_back'>
-      <origin xyz='-0.55 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_back'>
-      <origin xyz='-0.55 0 0.093' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-  </link>
-  <sensor name='imu_sensor_back' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='magnetometer_back' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='lidar_back' update_rate='15'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.06 0 0.295' rpy='0 -0 -3.14159'/>
-  </sensor>
-  <sensor name='camera_back' update_rate='10'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.17 0 0.252' rpy='0 -0 -3.14159'/>
-    <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='depth_camera_back' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.2 0 0.113' rpy='0 -0 -3.14159'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <link name='${robot_namespace}/axle_back'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='0.8'/>
-      <inertia ixx='0.0119' ixy='0' ixz='0' iyy='0.00021' iyz='0' izz='0.0119'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.42 0.04'/>
-      </geometry>
-    </collision>
-    <visual name='visual'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.42 0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0 0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/front_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/front_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/axle_back'/>
-    <child link='${robot_namespace}/rear_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 -0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/axle_back'/>
-    <child link='${robot_namespace}/rear_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='main_joint' type='revolute'>
-    <origin xyz='-0.35 0 0.22' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/chassis_back'/>
-    <axis xyz='0 0 1'/>
-    <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='axle_joint' type='revolute'>
-    <origin xyz='-0.7 0 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <child link='${robot_namespace}/axle_back'/>
-    <axis xyz='1 0 0'/>
-    <limit lower='-0.436' upper='0.436' effort='-1' velocity='-1'/>
-  </joint>
-</robot>
+<?xml version="1.0" encoding="utf-8"?>
+<robot name='robotika_kloubak_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="robotika_kloubak_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+
+  <link name='${robot_namespace}/chassis_front'>
+    <inertial>
+      <origin xyz='-0.05 0 0.28' rpy='0 -0 0'/>
+      <mass value='8'/>
+      <inertia ixx='0.1119' ixy='0' ixz='0' iyy='0.1286' iyz='0' izz='0.2159'/>
+    </inertial>
+    <collision name='collision_front_box'>
+      <origin xyz='0 0 0.28' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3 0.4 0.16'/>
+      </geometry>
+    </collision>
+    <collision name='collision_bar'>
+      <origin xyz='-0.17 0 0.22' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3 0.04 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_joint_upper'>
+      <origin xyz='-0.335 0 0.25' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.06 0.02'/>
+      </geometry>
+    </collision>
+    <collision name='collision_joint_bottom'>
+      <origin xyz='-0.335 0 0.19' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.06 0.02'/>
+      </geometry>
+    </collision>
+    <collision name='collision_wheel_hinge_left'>
+      <origin xyz='0 0.18 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.06 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_wheel_hinge_right'>
+      <origin xyz='0 -0.18 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.06 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_light_lidar_camera'>
+      <origin xyz='0.05 0 0.4325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.15 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='collision_depth_camera_front'>
+      <origin xyz='0.165 0 0.31' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.2 0.06'/>
+      </geometry>
+    </collision>
+    <visual name='visual_chassis'>
+      <origin xyz='-0.34 0 0.03' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor_front' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer_front' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='lidar_front' update_rate='15'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.08 0 0.25' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='camera_front' update_rate='10'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.155 -0.0075 0.193' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='depth_camera_front' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.18 0 0.113' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/chassis_back'>
+    <inertial>
+      <origin xyz='-0.325 0 0.096' rpy='0 -0 0'/>
+      <mass value='7.2'/>
+      <inertia ixx='0.0468' ixy='0' ixz='0' iyy='0.1117' iyz='0' izz='0.1228'/>
+    </inertial>
+    <collision name='collision_back_box'>
+      <origin xyz='-0.35 0 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.34 0.24 0.18'/>
+      </geometry>
+    </collision>
+    <collision name='collision_bar'>
+      <origin xyz='-0.225 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.45 0.04 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_light_lidar_camera'>
+      <origin xyz='-0.42 0 0.2725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.15 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='collision_depth_camera_back'>
+      <origin xyz='-0.535 0 0.09' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.2 0.06'/>
+      </geometry>
+    </collision>
+    <visual name='visual_chassis'>
+      <origin xyz='-0.01 0 -0.19' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor_back' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer_back' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='lidar_back' update_rate='15'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.08 0 0.345' rpy='0 -0 -3.14159'/>
+  </sensor>
+  <sensor name='camera_back' update_rate='10'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.185 -0.001 0.269' rpy='0 -0 -3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='depth_camera_back' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.2 0 0.113' rpy='0 -0 -3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/axle_back'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.8'/>
+      <inertia ixx='0.0119' ixy='0' ixz='0' iyy='0.00021' iyz='0' izz='0.0119'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.42 0.04'/>
+      </geometry>
+    </collision>
+    <visual name='visual'>
+      <origin xyz='-0.0132 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0 0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0 -0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.7 0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/axle_back'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.7 -0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/axle_back'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='main_joint' type='revolute'>
+    <origin xyz='-0.321 0 0.22' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/chassis_back'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='axle_joint' type='revolute'>
+    <origin xyz='-0.7 0 0.183' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <child link='${robot_namespace}/axle_back'/>
+    <axis xyz='1 0 0'/>
+    <limit lower='-0.436' upper='0.436' effort='-1' velocity='-1'/>
+  </joint>
+</robot>