- <xacro:wheel pos="rear" side="left" xyz="-0.06398 0.114 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="rear" side="right" xyz="-0.07397 -0.114 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="front" side="left" xyz="0.07602 0.114 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="front" side="right" xyz="0.07397 -0.114 -0.022446" rpy="0 0 0" />
+ <xacro:wheel pos="rear" side="left" xyz="-0.07525 0.12 -0.025" rpy="${-5*PI/180} 0 0" />
+ <xacro:wheel pos="rear" side="right" xyz="-0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
+ <xacro:wheel pos="front" side="left" xyz=" 0.07525 0.12 -0.025" rpy="${-5*PI/180} 0 0" />
+ <xacro:wheel pos="front" side="right" xyz=" 0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />