+
+ <link name="sonar_forward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="green">
+ <color rgba="0 1 0 0.8"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="sonar_backward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="green">
+ <color rgba="0 1 0 0.8"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_left">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_right">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_imu_link"/>
+ <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="base_link_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="sonar_forward_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="sonar_forward"/>
+ <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="sonar_backward_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="sonar_backward"/>
+ <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+ </joint>
+
+ <joint name="ir_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="ir_left"/>
+ <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+ </joint>
+
+ <joint name="ir_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="ir_right"/>
+ <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+ </joint>