<color rgba="0 0 0 1"/>
</material>
</visual>
+ <collision>
+ <geometry>
+ <cylinder radius="0.026" length="0.02"/>
+ </geometry>
+ </collision>
</link>
<link name="right_wheel">
<color rgba="0 0 0 1"/>
</material>
</visual>
+ <collision>
+ <geometry>
+ <cylinder radius="0.026" length="0.02"/>
+ </geometry>
+ </collision>
</link>
<link name="aft_wheel">
<child link="forward_sensor"/>
<origin xyz="0.07 0 0.06" rpy="0 0 0"/>
</joint>
+
+ <transmission name="left_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="left_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="left_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="right_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="right_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="right_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
</robot>