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          <pose frame=''>-0.1024 0.098 0.2374 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/sensors/sensor_pole.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_kinect_1_link_visual_13'>
          <pose frame=''>-0.1024 -0.098 0.2374 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/sensors/sensor_pole.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_middle_0_link_visual_14'>
          <pose frame=''>0.0381 0.1505 0.1742 3.14159 -0 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_middle_1_link_visual_15'>
          <pose frame=''>0.0381 -0.1505 0.1742 3.14159 -0 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_middle_2_link_visual_16'>
          <pose frame=''>-0.0381 0.1505 0.1742 3.14159 -0 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_middle_3_link_visual_17'>
          <pose frame=''>-0.0381 -0.1505 0.1742 3.14159 -0 3.14159</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_0_link_visual_18'>
          <pose frame=''>0.0381 0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_1_link_visual_19'>
          <pose frame=''>0.0381 -0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_2_link_visual_20'>
          <pose frame=''>-0.0381 0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <visual name='base_footprint_fixed_joint_lump__pole_top_3_link_visual_21'>
          <pose frame=''>-0.0381 -0.1505 0.3022 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/turtlebot_description/meshes/stacks/hexagons/pole_top.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <velocity_decay/>
        <sensor name='bumpers' type='contact'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <contact>
            <collision>base_footprint_collision_base_link</collision>
            <topic>__default_topic__</topic>
          </contact>
          <pose frame=''>0 0 0.0102 0 -0 0</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='camera' type='depth'>
          <always_on>1</always_on>
          <update_rate>20</update_rate>
          <camera name='__default__'>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <format>B8G8R8</format>
              <width>640</width>
              <height>480</height>
            </image>
            <clip>
              <near>0.05</near>
              <far>8</far>
            </clip>
          </camera>
          <plugin name='kinect_camera_controller' filename='libgazebo_ros_openni_kinect.so'>
            <cameraName>camera</cameraName>
            <alwaysOn>true</alwaysOn>
            <updateRate>10</updateRate>
            <imageTopicName>rgb/image_raw</imageTopicName>
            <depthImageTopicName>depth/image_raw</depthImageTopicName>
            <pointCloudTopicName>depth/points</pointCloudTopicName>
            <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
            <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
            <frameName>camera_depth_optical_frame</frameName>
            <baseline>0.1</baseline>
            <distortion_k1>0.0</distortion_k1>
            <distortion_k2>0.0</distortion_k2>
            <distortion_k3>0.0</distortion_k3>
            <distortion_t1>0.0</distortion_t1>
            <distortion_t2>0.0</distortion_t2>
            <pointCloudCutoff>0.4</pointCloudCutoff>
            <robotNamespace>/</robotNamespace>
          </plugin>
          <pose frame=''>-0.087 -0.0015 0.2972 0 -0 0</pose>
        </sensor>
        <velocity_decay/>
        <velocity_decay/>
        <velocity_decay/>
        <sensor name='cliff_sensor_front' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.156 0 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_left' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.08734 0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <velocity_decay/>
        <sensor name='cliff_sensor_right' type='ray'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>1</visualize>
          <ray>
            <scan>
              <horizontal>
                <samples>50</samples>
                <resolution>1</resolution>
                <min_angle>-0.0436</min_angle>
                <max_angle>0.0436</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.01</min>
              <max>0.15</max>
              <resolution>1</resolution>
            </range>
          </ray>
          <pose frame=''>0.085 -0.13601 0.0316 3.14159 1.57079 3.14159</pose>
        </sensor>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <sensor name='imu' type='imu'>
          <always_on>1</always_on>
          <update_rate>50</update_rate>
          <visualize>0</visualize>
          <imu>
            <angular_velocity>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>1.96e-06</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                </noise>
              </z>
            </angular_velocity>
            <linear_acceleration>
              <x>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type='gaussian'>
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </z>
            </linear_acceleration>
          </imu>
          <pose frame=''>0.056 0.062 0.0304 0 -0 0</pose>
        </sensor>
        <kinematic>0</kinematic>
      </link>
      <link name='wheel_left_link'>
        <pose frame=''>0 0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_left_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.0352</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_left_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_left_joint' type='revolute'>
        <child>wheel_left_link</child>
        <parent>base_footprint</parent>
        <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>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <link name='wheel_right_link'>
        <pose frame=''>0 -0.115 0.0352 -1.5708 0 0</pose>
        <inertial>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <mass>0.01</mass>
          <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
          </inertia>
        </inertial>
        <collision name='wheel_right_link_collision'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <cylinder>
              <length>0.0206</length>
              <radius>0.035</radius>
            </cylinder>
          </geometry>
          <surface>
            <contact>
              <ode>
                <kp>1e+06</kp>
                <kd>100</kd>
                <max_vel>1</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
            <friction>
              <ode>
                <mu>1</mu>
                <mu2>1</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce/>
          </surface>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='wheel_right_link_visual'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <geometry>
            <mesh>
              <scale>1 1 1</scale>
              <uri>/opt/ros/kinetic/share/kobuki_description/meshes/wheel.dae</uri>
            </mesh>
          </geometry>
          <material>
            <script>
              <uri>__default__</uri>
              <name>__default__</name>
            </script>
          </material>
        </visual>
        <gravity>1</gravity>
        <velocity_decay/>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
      </link>
      <joint name='wheel_right_joint' type='revolute'>
        <child>wheel_right_link</child>
        <parent>base_footprint</parent>
        <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>
          <use_parent_model_frame>1</use_parent_model_frame>
        </axis>
      </joint>
      <static>0</static>
      <plugin name='kobuki_controller' filename='libgazebo_ros_kobuki.so'>
        <publish_tf>1</publish_tf>
        <left_wheel_joint_name>wheel_left_joint</left_wheel_joint_name>
        <right_wheel_joint_name>wheel_right_joint</right_wheel_joint_name>
        <wheel_separation>.230</wheel_separation>
        <wheel_diameter>0.070</wheel_diameter>
        <torque>1.0</torque>
        <velocity_command_timeout>0.6</velocity_command_timeout>
        <cliff_sensor_left_name>cliff_sensor_left</cliff_sensor_left_name>
        <cliff_sensor_center_name>cliff_sensor_front</cliff_sensor_center_name>
        <cliff_sensor_right_name>cliff_sensor_right</cliff_sensor_right_name>
        <cliff_detection_threshold>0.04</cliff_detection_threshold>
        <bumper_name>bumpers</bumper_name>
        <imu_name>imu</imu_name>
        <robotNamespace>/</robotNamespace>
      </plugin>
      <pose frame=''>0 0 0 0 -0 0</pose>
    </model>
    <model name='willowgarage'>
      <static>1</static>
      <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
      <link name='walls'>
        <collision name='collision'>
          <geometry>
            <mesh>
              <uri>model://willowgarage/meshes/willowgarage_collision.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://willowgarage/meshes/willowgarage_visual.dae</uri>
              <scale>1 1 1</scale>
            </mesh>
          </geometry>
          <cast_shadows>0</cast_shadows>
        </visual>
        <self_collide>0</self_collide>
        <kinematic>0</kinematic>
        <gravity>1</gravity>
      </link>
    </model>
    <state world_name='default'>
      <sim_time>119 970000000</sim_time>
      <real_time>120 580634469</real_time>
      <wall_time>1490606813 610311918</wall_time>
      <iterations>11997</iterations>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='mobile_base'>
        <pose frame=''>0.001659 0.016649 -0.001131 7.5e-05 -0.007997 -0.047478</pose>
        <scale>1 1 1</scale>
        <link name='base_footprint'>
          <pose frame=''>0.001659 0.016649 -0.001131 7.5e-05 -0.007997 -0.047478</pose>
          <velocity>3.5e-05 5.9e-05 3.7e-05 -0.00053 -0.00013 -0.000245</velocity>
          <acceleration>0.000639 0.000582 0.004948 -0.032477 -0.03129 0.008657</acceleration>
          <wrench>0.003 0.002733 0.023244 0 -0 0</wrench>
        </link>
        <link name='wheel_left_link'>
          <pose frame=''>0.006826 0.131502 0.035071 -1.57083 -0.009019 -0.047478</pose>
          <velocity>1.1e-05 5.7e-05 0.007577 -0.001383 0.000158 -0.000251</velocity>
          <acceleration>-0.00208 -0.004344 0.761544 -0.117635 -0.002528 0.008089</acceleration>
          <wrench>-2.1e-05 -4.3e-05 0.007615 0 -0 0</wrench>
        </link>
        <link name='wheel_right_link'>
          <pose frame=''>-0.004078 -0.098216 0.034895 -1.57082 -0.010062 -0.047476</pose>
          <velocity>-2.2e-05 4.7e-05 0.006343 -0.001285 -0.000692 -0.000236</velocity>
          <acceleration>0.002199 -0.005687 0.63317 -0.107807 -0.087476 0.009574</acceleration>
          <wrench>2.2e-05 -5.7e-05 0.006332 0 -0 0</wrench>
        </link>
      </model>
      <model name='willowgarage'>
        <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='walls'>
          <pose frame=''>-13.7617 -29.9459 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-5.26351 -43.0557 43.6775 -0 1.07564 1.3402</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
