When using an namespace for my omniroboter the controller_manager doesn't get an update_rate

[AshBastian]

Description of the bug I'm trying to use mutiple omni-directional roboter with the ROS navigationstack 2 and therefore I need to setup my own controller. When I only spawn 1 roboter without a namespace, the controller_manager gets loaded without any problems, but as soon as I give the roboter an namespace, the controller_manager doesn't receive the update_parameter anymore and therefore the whole gazebo_plugin fails.

Steps to reproduce the behavior:

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node

def generate_launch_description():
    # Create the launch description and populate
    ld = LaunchDescription()

    bringup_dir = get_package_share_directory('gazebo_simulation')
    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')

    urdf = os.path.join(bringup_dir, 'urdf', 'rs_robot.urdf')

    remappings = [('/tf', 'tf'),
                  ('/tf_static', 'tf_static')]

    start_gazebo_server_cmd = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
            ),
            launch_arguments={'world': 'omni_nav_world2.model'}.items(),
        )

    start_gazebo_client_cmd = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
            ),
        )

    omni_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        namespace='',
        output='screen',
        parameters=[{'use_sim_time': False,
                        'publish_frequency': 10.0}],
        remappings=remappings,
        arguments=[urdf])

    spawn_omni = Node(
            package='gazebo_ros',
            executable='spawn_entity.py',
            arguments=[
                '-file', os.path.join(bringup_dir,'models', 'rs_robot/rs_robot.sdf'),
                '-entity', 'test',
                '-robot_namespace', '',
                '-x', '0.0', '-y', '0.0',
                '-z', '1.01', '-Y', '0.0',
                '-unpause',
            ],
            output='screen',
        )

    ld.add_action(start_gazebo_server_cmd)
    ld.add_action(start_gazebo_client_cmd)

    ld.add_action(omni_state_publisher)
    ld.add_action(spawn_omni)

    return ld

Change the namespace and -robot_namespace variable to something and the system fails

Expected behavior The expected behavior would be, that the system loads the controller_manager into the namespace with all the parameter.

Code important for the Execution My .yaml file that the system loads.

controller_manager:
  ros__parameters:
    update_rate: 1000  # Hz

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

    forward_velocity_controller:
      type: forward_command_controller/ForwardCommandController

forward_velocity_controller:
  ros__parameters:
    joints:
      - first_wheel_joint
      - second_wheel_joint
      - third_wheel_joint
      - fourth_wheel_joint
    interface_name: velocity
    command_interfaces:
      - velocity
    state_interfaces:
      - velocity

The part in the .sdf file wäre the gazebo plugin is called:

<ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>

    <joint name="first_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="second_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="third_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="fourth_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>

    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>/home/bastian/Documents/omni_navigation/install/gazebo_simulation/share/gazebo_simulation/models/rs_robot/config/controllers.yaml</parameters>
    </plugin>

Environment (please complete the following information):

• OS: Ubuntu 22.04.4 LTS
• Version Humble Version 16.0.10 (That is the version number of my rclcpp package)

Additional Points for what I already found The system works as intended until the reset for the controller_manager in the gazebo_ros2_controll_plugin.cpp line 384 Here the systems doesn't load the update_rate and I believe the problem is in the executor that parses the information from the .yaml file incorrectly. Therefore the parameter for the update_rate is not set and the controller_manager therefore cannot set the value, which breaks the system. The arguments themself are given correctly to the executor in the lines 256 until 266 in the gazebo_ros2_controll_plugin.cpp.

[christophfroehlich]

Is this maybe related to https://github.com/ros-controls/gazebo_ros2_control/pull/181?

[christophfroehlich]

Or maybe this is simpler, and you should add the namespace as argument to the plugin as described here.

[AshBastian]

Or maybe this is simpler, and you should add the namespace as argument to the plugin as described here.

That doesn't do anything, I tried

[AshBastian]

Is this maybe related to #181?

And I tried to comment out the lines mentioned in the other issue, but that also doesn't have any effect on my problem

[AshBastian]

It removes the __ns line from the arguments the executor will parse in the end. I made it visible like this in the lines 256 of the gazebo_ros2_control_plugin.cpp

std::vector<const char *> argv;
  for (const auto & arg : arguments) {
    argv.push_back(reinterpret_cast<const char *>(arg.data()));
    RCLCPP_WARN_STREAM(impl_->model_nh_->get_logger(),arg.data());
  }

[christophfroehlich]

I created a MWE in this https://github.com/ros-controls/gazebo_ros2_control/pull/367

ros2 launch gazebo_ros2_control_demos cart_example_position_namespaced.launch.py

runs successfully and

ros2 control list_controllers -c /my_ns/controller_manager
joint_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active    
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active 

I think you forgot to namespace the parameters in the yaml file.

[AshBastian]

I namespaced everything like you did, but it still doesn't work, the different right now is that you use the urdf as the startingpoint for the plugin, while I start it from an sdf file

[AshBastian]

And I also tried to change my stuff into your example and it just doesn't load the urdf anymore, after that I tried to get your example unto my computer but that also just breaks when I try to colcon build it, so I cannot verify if your solution works on my system

[christophfroehlich]

you can just take the new files and add it to the humble branch of this repo, or cherry-pick the PR on top of it. The demo should run on every distro.

[AshBastian]

I'm really sorry, but I really don't know what I should do now to get the demo running on my system, because I'm not an expert on how to manages the git repos to get them on my system without destroying the rest of my ros

[AshBastian]

Do I just pull the current repo over an pull request and then add the new files. Afterwards I colcon build it on my system, source it and start the launch file like you did to hopefully get the same result?

[christophfroehlich]

As you are using Humble distro, you need to build the humble branch of this repo. Before that, add the three files of the PR in the respective folders. As an alternative, you can build the rolling version of the ros2_control stack, see "development version" here.

[AshBastian]

So the demo is running without any problems on my system, so could the problem be that my .sdf is wrong in some way, so the system is failing and if so, how would I need to change it?

<sdf version='1.7'>
  <model name='omni_robot'>

    <link name="base_footprint"/>

    <link name='base_link'>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>1.167</mass>
        <inertia>
          <ixx>0.0016</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0016</iyy>
          <iyz>0</iyz>
          <izz>0.0032</izz>
        </inertia>
      </inertial>
      <collision name='base_footprint_fixed_joint_lump__base_link_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/base/base_link.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode/>
          </contact>
          <friction>
            <ode>
              <mu>0.05</mu>
              <mu2>0.05</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name='base_footprint_fixed_joint_lump__base_link_visual'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/base/base_link.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
      <sensor name='front_lrf_sensor' type='ray'>
        <always_on>true</always_on>
        <visualize>true</visualize>
        <update_rate>40</update_rate>
        <pose>0 0 0.1395 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>720</samples>
                <resolution>1.000000</resolution>
                <min_angle>-3.14158</min_angle>
                <max_angle>3.14158</max_angle>
              </horizontal>
            </scan>
            <range>
              <min>0.120000</min>
              <max>20</max>
              <resolution>0.015000</resolution>
            </range>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.01</stddev>
            </noise>
          </ray>
          <plugin name="omni_laserscan" filename="libgazebo_ros_ray_sensor.so">
            <ros>
                <remapping>~/out:=scan</remapping>
            </ros>
            <output_type>sensor_msgs/LaserScan</output_type>
            <frame_name>front_lrf_link</frame_name>
          </plugin>
      </sensor>
    </link>
    <joint name='first_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>0.086338 -0.086338 -0.022 0 0 -2.3562</pose>
      <parent>base_link</parent>
      <child>first_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100</effort>
          <velocity>100</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='first_wheel_link'>
      <pose relative_to='first_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 -0.011 0 0 -0 0</pose>
        <mass>0.25</mass>
        <inertia>
          <ixx>0.00031</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0005</iyy>
          <iyz>0</iyz>
          <izz>0.00031</izz>
        </inertia>
      </inertial>
      <collision name='first_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/omni_wheel/omni_wheel.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='first_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/omni_wheel/omni_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
    </link>
    <joint name='r10_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>-0.022885 0.006 -0.007436 1.25664 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r10_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r10_F_roller_link'>
      <pose relative_to='r10_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r10_F_roller_link_collision'>
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r10_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r1_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0 -0.006 0.024063 0 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r1_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r1_F_roller_link'>
      <pose relative_to='r1_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r1_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r1_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r2_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>-0.022885 -0.006 0.007436 -1.25664 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r2_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r2_F_roller_link'>
      <pose relative_to='r2_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r2_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r2_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r3_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>-0.014144 -0.006 -0.019467 -2.51327 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r3_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r3_F_roller_link'>
      <pose relative_to='r3_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r3_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r3_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r4_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0.014144 -0.006 -0.019467 2.51327 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r4_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r4_F_roller_link'>
      <pose relative_to='r4_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r4_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
        </geometry>
      </collision>
      <visual name='r4_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r5_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0.022885 -0.006 0.007436 1.25664 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r5_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r5_F_roller_link'>
      <pose relative_to='r5_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r5_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r5_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r6_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0 0.006 -0.024063 0 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r6_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r6_F_roller_link'>
      <pose relative_to='r6_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r6_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r6_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r7_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0.022885 0.006 -0.007436 -1.25664 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r7_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r7_F_roller_link'>
      <pose relative_to='r7_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r7_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r7_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r8_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>0.014144 0.006 0.019467 -2.51327 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r8_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r8_F_roller_link'>
      <pose relative_to='r8_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r8_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r8_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r9_F_roller_joint' type='revolute'>
      <pose relative_to='first_wheel_link'>-0.014144 0.006 0.019467 2.51327 -0 1.5708</pose>
      <parent>first_wheel_link</parent>
      <child>r9_F_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r9_F_roller_link'>
      <pose relative_to='r9_F_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r9_F_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r9_F_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='fourth_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>-0.086338 -0.086338 -0.022 0 -0 2.3562</pose>
      <parent>base_link</parent>
      <child>fourth_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100</effort>
          <velocity>100</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='fourth_wheel_link'>
      <pose relative_to='fourth_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 -0.011 0 0 -0 0</pose>
        <mass>0.25</mass>
        <inertia>
          <ixx>0.00031</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0005</iyy>
          <iyz>0</iyz>
          <izz>0.00031</izz>
        </inertia>
      </inertial>
      <collision name='fourth_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/omni_wheel/omni_wheel.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='fourth_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/omni_wheel/omni_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
    </link>
    <joint name='r10_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>-0.022885 0.006 -0.007436 1.25664 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r10_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r10_R_roller_link'>
      <pose relative_to='r10_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r10_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r10_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r1_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0 -0.006 0.024063 0 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r1_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r1_R_roller_link'>
      <pose relative_to='r1_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r1_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r1_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r2_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>-0.022885 -0.006 0.007436 -1.25664 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r2_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r2_R_roller_link'>
      <pose relative_to='r2_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r2_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r2_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r3_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>-0.014144 -0.006 -0.019467 -2.51327 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r3_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r3_R_roller_link'>
      <pose relative_to='r3_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r3_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r3_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r4_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0.014144 -0.006 -0.019467 2.51327 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r4_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r4_R_roller_link'>
      <pose relative_to='r4_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r4_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r4_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r5_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0.022885 -0.006 0.007436 1.25664 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r5_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r5_R_roller_link'>
      <pose relative_to='r5_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r5_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r5_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r6_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0 0.006 -0.024063 0 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r6_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r6_R_roller_link'>
      <pose relative_to='r6_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r6_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r6_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r7_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0.022885 0.006 -0.007436 -1.25664 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r7_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r7_R_roller_link'>
      <pose relative_to='r7_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r7_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r7_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r8_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>0.014144 0.006 0.019467 -2.51327 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r8_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r8_R_roller_link'>
      <pose relative_to='r8_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r8_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r8_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r9_R_roller_joint' type='revolute'>
      <pose relative_to='fourth_wheel_link'>-0.014144 0.006 0.019467 2.51327 -0 1.5708</pose>
      <parent>fourth_wheel_link</parent>
      <child>r9_R_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r9_R_roller_link'>
      <pose relative_to='r9_R_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r9_R_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r9_R_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='second_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>0.086338 0.086338 -0.022 0 0 -0.785398</pose>
      <parent>base_link</parent>
      <child>second_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100</effort>
          <velocity>100</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='second_wheel_link'>
      <pose relative_to='second_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 -0.011 0 0 -0 0</pose>
        <mass>0.25</mass>
        <inertia>
          <ixx>0.00031</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0005</iyy>
          <iyz>0</iyz>
          <izz>0.00031</izz>
        </inertia>
      </inertial>
      <collision name='second_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/omni_wheel/omni_wheel.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='second_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/omni_wheel/omni_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
    </link>
    <joint name='r10_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>-0.022885 0.006 -0.007436 1.25664 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r10_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r10_S_roller_link'>
      <pose relative_to='r10_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r10_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r10_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r1_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0 -0.006 0.024063 0 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r1_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r1_S_roller_link'>
      <pose relative_to='r1_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r1_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r1_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r2_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>-0.022885 -0.006 0.007436 -1.25664 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r2_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r2_S_roller_link'>
      <pose relative_to='r2_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r2_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r2_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r3_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>-0.014144 -0.006 -0.019467 -2.51327 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r3_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r3_S_roller_link'>
      <pose relative_to='r3_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r3_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r3_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r4_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0.014144 -0.006 -0.019467 2.51327 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r4_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r4_S_roller_link'>
      <pose relative_to='r4_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r4_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r4_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r5_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0.022885 -0.006 0.007436 1.25664 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r5_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r5_S_roller_link'>
      <pose relative_to='r5_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r5_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r5_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r6_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0 0.006 -0.024063 0 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r6_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r6_S_roller_link'>
      <pose relative_to='r6_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r6_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r6_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r7_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0.022885 0.006 -0.007436 -1.25664 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r7_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r7_S_roller_link'>
      <pose relative_to='r7_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r7_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r7_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r8_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>0.014144 0.006 0.019467 -2.51327 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r8_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r8_S_roller_link'>
      <pose relative_to='r8_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r8_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r8_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r9_S_roller_joint' type='revolute'>
      <pose relative_to='second_wheel_link'>-0.014144 0.006 0.019467 2.51327 -0 1.5708</pose>
      <parent>second_wheel_link</parent>
      <child>r9_S_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r9_S_roller_link'>
      <pose relative_to='r9_S_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r9_S_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r9_S_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='third_wheel_joint' type='revolute'>
      <pose relative_to='base_link'>-0.086338 0.086338 -0.022 0 -0 0.785398</pose>
      <parent>base_link</parent>
      <child>third_wheel_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <effort>100</effort>
          <velocity>100</velocity>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='third_wheel_link'>
      <pose relative_to='third_wheel_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 -0.011 0 0 -0 0</pose>
        <mass>0.25</mass>
        <inertia>
          <ixx>0.00031</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0005</iyy>
          <iyz>0</iyz>
          <izz>0.00031</izz>
        </inertia>
      </inertial>
      <collision name='third_wheel_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/omni_wheel/omni_wheel.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='third_wheel_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/omni_wheel/omni_wheel.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <self_collide>0</self_collide>
    </link>
    <joint name='r10_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>-0.022885 0.006 -0.007436 1.25664 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r10_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r10_T_roller_link'>
      <pose relative_to='r10_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r10_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r10_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r1_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0 -0.006 0.024063 0 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r1_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r1_T_roller_link'>
      <pose relative_to='r1_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r1_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r1_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r2_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>-0.022885 -0.006 0.007436 -1.25664 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r2_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r2_T_roller_link'>
      <pose relative_to='r2_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r2_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r2_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r3_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>-0.014144 -0.006 -0.019467 -2.51327 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r3_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r3_T_roller_link'>
      <pose relative_to='r3_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r3_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r3_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r4_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0.014144 -0.006 -0.019467 2.51327 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r4_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r4_T_roller_link'>
      <pose relative_to='r4_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r4_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r4_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r5_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0.022885 -0.006 0.007436 1.25664 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r5_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r5_T_roller_link'>
      <pose relative_to='r5_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r5_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r5_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r6_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0 0.006 -0.024063 0 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r6_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r6_T_roller_link'>
      <pose relative_to='r6_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r6_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r6_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r7_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0.022885 0.006 -0.007436 -1.25664 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r7_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r7_T_roller_link'>
      <pose relative_to='r7_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r7_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r7_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r8_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>0.014144 0.006 0.019467 -2.51327 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r8_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r8_T_roller_link'>
      <pose relative_to='r8_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r8_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r8_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <joint name='r9_T_roller_joint' type='revolute'>
      <pose relative_to='third_wheel_link'>-0.014144 0.006 0.019467 2.51327 -0 1.5708</pose>
      <parent>third_wheel_link</parent>
      <child>r9_T_roller_link</child>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1e+16</lower>
          <upper>1e+16</upper>
        </limit>
        <dynamics>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    <link name='r9_T_roller_link'>
      <pose relative_to='r9_T_roller_joint'>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.009</mass>
        <inertia>
          <ixx>1.257e-06</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>3.42e-07</iyy>
          <iyz>0</iyz>
          <izz>1.257e-06</izz>
        </inertia>
      </inertial>
      <collision name='r9_T_roller_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/STL/roller/roller.stl</uri>
          </mesh>
        </geometry>
        <surface>
          <contact>
            <ode>
              <max_vel>0.01</max_vel>
            </ode>
          </contact>
          <friction>
            <ode>
              <mu>1.5</mu>
              <mu2>1.5</mu2>
              <kp>1e15</kp>
              <kd>1e13</kd>
            </ode>
          </friction>
          <bounce>
            <restitution_coefficient>0.01</restitution_coefficient>
            <threshold>0</threshold>
          </bounce>
        </surface>
      </collision>
      <visual name='r9_T_roller_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://rs_robot/meshes/DAE/roller/roller.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <static>0</static>

    <plugin name="omni_robot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
      <ros>
          <remapping>~/out:=joint_states</remapping>
      </ros>
      <update_rate>20</update_rate>
      <joint_name>first_wheel_joint</joint_name>
      <joint_name>second_wheel_joint</joint_name>
      <joint_name>third_wheel_joint</joint_name>
      <joint_name>fourth_wheel_joint</joint_name>

      <joint_name>r1_F_roller_joint</joint_name>
      <joint_name>r2_F_roller_joint</joint_name>
      <joint_name>r3_F_roller_joint</joint_name>
      <joint_name>r4_F_roller_joint</joint_name>
      <joint_name>r5_F_roller_joint</joint_name>
      <joint_name>r6_F_roller_joint</joint_name>
      <joint_name>r7_F_roller_joint</joint_name>
      <joint_name>r8_F_roller_joint</joint_name>
      <joint_name>r9_F_roller_joint</joint_name>
      <joint_name>r10_F_roller_joint</joint_name>

      <joint_name>r1_R_roller_joint</joint_name>
      <joint_name>r2_R_roller_joint</joint_name>
      <joint_name>r3_R_roller_joint</joint_name>
      <joint_name>r4_R_roller_joint</joint_name>
      <joint_name>r5_R_roller_joint</joint_name>
      <joint_name>r6_R_roller_joint</joint_name>
      <joint_name>r7_R_roller_joint</joint_name>
      <joint_name>r8_R_roller_joint</joint_name>
      <joint_name>r9_R_roller_joint</joint_name>
      <joint_name>r10_R_roller_joint</joint_name>

      <joint_name>r1_S_roller_joint</joint_name>
      <joint_name>r2_S_roller_joint</joint_name>
      <joint_name>r3_S_roller_joint</joint_name>
      <joint_name>r4_S_roller_joint</joint_name>
      <joint_name>r5_S_roller_joint</joint_name>
      <joint_name>r6_S_roller_joint</joint_name>
      <joint_name>r7_S_roller_joint</joint_name>
      <joint_name>r8_S_roller_joint</joint_name>
      <joint_name>r9_S_roller_joint</joint_name>
      <joint_name>r10_S_roller_joint</joint_name>

      <joint_name>r1_T_roller_joint</joint_name>
      <joint_name>r2_T_roller_joint</joint_name>
      <joint_name>r3_T_roller_joint</joint_name>
      <joint_name>r4_T_roller_joint</joint_name>
      <joint_name>r5_T_roller_joint</joint_name>
      <joint_name>r6_T_roller_joint</joint_name>
      <joint_name>r7_T_roller_joint</joint_name>
      <joint_name>r8_T_roller_joint</joint_name>
      <joint_name>r9_T_roller_joint</joint_name>
      <joint_name>r10_T_roller_joint</joint_name>
    </plugin>

<ros2_control name="GazeboSystem" type="system">
    <hardware>
      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
    </hardware>

    <joint name="first_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="second_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="third_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>

    <joint name="fourth_wheel_joint">
      <command_interface name="velocity">
        <param name="min">-3.14</param>
        <param name="max">3.14</param>
      </command_interface>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>

    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
      <ros>
        <namespace>omni1</namespace>
      </ros>
      <parameters>/home/bastian/Documents/omni_navigation/install/gazebo_simulation/share/gazebo_simulation/models/rs_robot/config/controllers.yaml</parameters>
    </plugin>
  </model>
</sdf>

[christophfroehlich]

We don't have any examples with directly loading sdf. Why would you do that, instead of using the URDF-way?

[AshBastian]

It is used in my example that way, that is why I have both data formats, an urdf and an sdf file

[AshBastian]

And the sdf file specifies the laserscaner, while the urdf just loads libgazebo_ros_laser.so, so I don't know, if the simple change to urdf will work as intended

[christophfroehlich]

parts inside <gazebo> tags in the URDF are directly used in the internally generated sdf. You can test this with

xacro /path/to/model.urdf.xacro > MODEL.urdf
gz sdf -p MODEL.urdf > MODEL.sdf

[AshBastian]

Thanks for the quick answer, I will try that and update here as soon as I'm finished

[AshBastian]

It seems to work to load the urdf corrrectly, but now that I try to start the system gazebo just crashes

[AshBastian]

And if I load your udrf file into my simulation, gazebo starts, but then I get the following error: And that is because of the namespace inside the yaml file, because my normal controller.yaml without the namespacing loads into the old state of not setting the update_rate

[AshBastian]

I finally found the problems in my system, there are two things you need to look out for, to not get into the same problem as me, with the other additional information in this Issue First of all, if you try to load the <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"> you need to use <parameters>$(find gazebo_simulation)/rest_of_path/controllers_namespaced.yaml</parameters> with the find ros_package, because the abolute path crashes the system. Second of all you need to use <mesh filename="file:///$(find robot_models)/rest_of_path/model.stl"/> with the file:/// search, because if you don't use that, your gazebo will just crash

[AshBastian]

Only one last thing I'm unable to get started, is to use an arg parameter in the urdf and the python file to set the namespace dynamically and not using specific files for each individual robot