diff --git a/mini_ros/package.xml b/mini_ros/package.xml
index e6f7a6d2..f0d8f9fa 100644
--- a/mini_ros/package.xml
+++ b/mini_ros/package.xml
@@ -69,7 +69,8 @@
rospy
sensor_msgs
visualization_msgs
-
+ hector_gazebo_plugins
+ hector_sensors_description
rostest
rosunit
diff --git a/mini_ros/urdf/accessories.urdf.xacro b/mini_ros/urdf/accessories.urdf.xacro
new file mode 100644
index 00000000..75bf615b
--- /dev/null
+++ b/mini_ros/urdf/accessories.urdf.xacro
@@ -0,0 +1,57 @@
+
+
+
+
+
+
+
+
+
+
+ Gazebo/FlatBlack
+
+
+
+
+
+
+ 50.0
+ imu_link
+ imu/data
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005
+ 0.005
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/mini_ros/urdf/spot.urdf b/mini_ros/urdf/spot.urdf
index 41fa9b87..c1fd5c87 100644
--- a/mini_ros/urdf/spot.urdf
+++ b/mini_ros/urdf/spot.urdf
@@ -38,10 +38,11 @@
-->
+
-
-
+
+
@@ -62,6 +63,9 @@
+
+ Gazebo/Orange
+
@@ -84,6 +88,9 @@
+
+ Gazebo/Black
+
@@ -106,6 +113,9 @@
+
+ Gazebo/Black
+
@@ -128,6 +138,9 @@
+
+ Gazebo/Black
+
@@ -150,6 +163,9 @@
+
+ Gazebo/Orange
+
@@ -172,6 +188,9 @@
+
+ Gazebo/Orange
+
@@ -194,6 +213,9 @@
+
+ Gazebo/Black
+
@@ -216,6 +238,9 @@
+
+ Gazebo/Black
+
@@ -233,17 +258,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -262,17 +290,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -291,17 +322,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -326,6 +360,15 @@
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
@@ -347,17 +390,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -376,17 +422,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -405,17 +454,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -440,6 +492,15 @@
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
@@ -461,17 +522,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -490,17 +554,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -519,17 +586,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -554,6 +624,15 @@
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
@@ -575,17 +654,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -604,17 +686,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -633,17 +718,20 @@
-
+
+
+ Gazebo/Black
+
-
+
@@ -668,6 +756,15 @@
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
@@ -675,8 +772,8 @@
-
-
+
+
@@ -713,4 +810,130 @@
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
+ true
+
+
+
diff --git a/mini_ros/urdf/spot.urdf.xacro b/mini_ros/urdf/spot.urdf.xacro
index e2cc2336..38c1e7d0 100644
--- a/mini_ros/urdf/spot.urdf.xacro
+++ b/mini_ros/urdf/spot.urdf.xacro
@@ -3,13 +3,15 @@
+
+
-
+
-
+ parent="base_link" child="base_inertia"/>
-
+
+
+
+
+
+
+
+ true
+
+
+
diff --git a/mini_ros/urdf/spot_accessories.urdf b/mini_ros/urdf/spot_accessories.urdf
new file mode 100644
index 00000000..b0d4cf36
--- /dev/null
+++ b/mini_ros/urdf/spot_accessories.urdf
@@ -0,0 +1,1031 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ 30
+ 0 0 0 0 0 0
+ false
+
+
+
+ 1040
+ 1
+ 2.26892802759
+ -2.26892802759
+
+
+
+ 0.2
+ 30.0
+ 0.01
+
+
+ gaussian
+ 0.0
+ 0.004
+
+
+
+ scan
+ hokuyo_frame
+
+
+
+
+ Gazebo/FlatBlack
+
+
+
+
+ 50.0
+ imu_link
+ imu/data
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005 0.005 0.005
+ 0.005
+ 0.005
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
+ true
+
+
+
+
diff --git a/mini_ros/urdf/spot_macro.xacro b/mini_ros/urdf/spot_macro.xacro
index 84892351..89a28cd3 100644
--- a/mini_ros/urdf/spot_macro.xacro
+++ b/mini_ros/urdf/spot_macro.xacro
@@ -53,6 +53,14 @@
+
+
+ Gazebo/Black
+
+
+ Gazebo/Orange
+
+
@@ -79,6 +87,16 @@
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+ Gazebo/Orange
+
diff --git a/mini_ros/urdf/transmissions.xacro b/mini_ros/urdf/transmissions.xacro
new file mode 100644
index 00000000..a5ff7347
--- /dev/null
+++ b/mini_ros/urdf/transmissions.xacro
@@ -0,0 +1,37 @@
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/EffortJointInterface
+
+
+ hardware_interface/EffortJointInterface
+ 1
+
+
+
+
\ No newline at end of file