resovled conflicts

2026-01-12 03:15:01 +08:00 · 2020-08-21 16:50:53 +08:00
parent 9dfc9af81c 61824fb4c8
commit dc3654ed8e
82 changed files with 8838 additions and 130 deletions
--- a/29
+++ b/29
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2020, WestonRobot
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/NOTE.md
+++ b/NOTE.md
@@ -8,8 +8,19 @@ Convert xacro to urdf
 $ rosrun xacro xacro -o model.urdf model.urdf.xacro
 ```

+Generate proto for Webots
+
+```
+$ rosrun xacro xacro -o scout_description/urdf/scout_v2.urdf scout_description/urdf/scout_v2_webots.xacro
+$ python -m urdf2webots.importer --input=./scout_description/urdf/scout_v2.urdf --output=scout_description/proto/ScoutV2.proto
+```
+
 Convert urdf to sdf

 ```
 $ gz sdf -p scout_v2.urdf > scout_v2.sdf
 ```
+
+Reference:
+
+[1] https://github.com/cyberbotics/urdf2webots
--- a/README.md
+++ b/README.md
@@ -103,7 +103,7 @@ Two scripts inside the "scout_bringup/scripts" folder are provided for easy setu

 4. Launch ROS nodes
 
-* Start the base node 
+* Start the base node for the real robot

    ```
    $ roslaunch scout_bringup scout_minimal.launch
@@ -115,10 +115,16 @@ Two scripts inside the "scout_bringup/scripts" folder are provided for easy setu
    $ roslaunch scout_bringup scout_minimal_uart.launch
    ```

-* Or you can start the Webots-based simulation
+* Start the Webots-based simulation (Scout V1)

    ```
-    $ roslaunch scout_bringup scout_base_sim.launch
+    $ roslaunch scout_bringup scout_base_webots_sim.launch
+    ```
+
+* Start the Gazebo-based simulation (Scout V2)
+
+    ```
+    $ roslaunch scout_bringup scout_base_gazebo_sim.launch
    ```

 * Start the keyboard tele-op node
--- a/scout_base/CMakeLists.txt
+++ b/scout_base/CMakeLists.txt
@@ -51,15 +51,11 @@ set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
 add_executable(scout_base_node src/scout_base_node.cpp)
 target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})

-add_executable(scout_base_sim_node src/scout_base_sim_node.cpp)
-target_link_libraries(scout_base_sim_node scout_messenger ${catkin_LIBRARIES})
-
-
 #############
 ## Install ##
 #############

-roslaunch_add_file_check(launch)
+# roslaunch_add_file_check(launch)

 install(TARGETS scout_messenger scout_base_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
--- a/scout_base/launch/scout_base_sim.launch
+++ b/scout_base/launch/scout_base_sim.launch
@@ -12,7 +12,7 @@
    <arg name="simulated_robot" default="true" />
    <arg name="control_rate" default="50" />

-    <node name="scout_base_sim_node" pkg="scout_base" type="scout_base_sim_node" output="screen">
+    <node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
        <param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
        <param name="control_rate" type="int" value="$(arg control_rate)" />

--- a/scout_base/src/imu_broadcast_node.cpp
+++ b/scout_base/src/imu_broadcast_node.cpp
@@ -1,72 +0,0 @@
-/* 
- * imu_broadcast_node.cpp
- * 
- * Created on: Oct 02, 2019 19:09
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include <string>
-
-#include <lcm/lcm-cpp.hpp>
-#include "lcmtypes/wescore.hpp"
-
-#include <ros/ros.h>
-#include <sensor_msgs/Imu.h>
-
-ros::Publisher imu_pub;
-
-struct MessageBroadcaster
-{
-    void IMULCMCallback(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const wescore_lcm_msgs::IMU *msg)
-    {
-        static uint64_t count = 0;
-        // std::cout << "imu msg received" << std::endl;
-        sensor_msgs::Imu imu_msg;
-        imu_msg.header.frame_id = "imu_link";
-        imu_msg.header.stamp = ros::Time::now();
-        imu_msg.header.seq = count++;
-
-        imu_msg.angular_velocity.x = msg->angular_velocity.x;
-        imu_msg.angular_velocity.y = msg->angular_velocity.y;
-        imu_msg.angular_velocity.z = msg->angular_velocity.z;
-
-        imu_msg.linear_acceleration.x = msg->linear_acceleration.x;
-        imu_msg.linear_acceleration.y = msg->linear_acceleration.y;
-        imu_msg.linear_acceleration.z = msg->linear_acceleration.z;
-
-        for (int i = 0; i < 9; ++i)
-        {
-            imu_msg.orientation_covariance[i] = msg->orientation_covariance[i];
-            imu_msg.angular_velocity_covariance[i] = msg->angular_velocity_covariance[i];
-            imu_msg.linear_acceleration_covariance[i] = msg->linear_acceleration_covariance[i];
-        }
-
-        imu_pub.publish(imu_msg);
-    }
-};
-
-int main(int argc, char **argv)
-{
-    // setup LCM
-    lcm::LCM lcm;
-
-    if (!lcm.good())
-        return 1;
-    MessageBroadcaster mb;
-    lcm.subscribe("sensor_hub_raw_imu", &MessageBroadcaster::IMULCMCallback, &mb);
-
-    // setup ROS node
-    ros::init(argc, argv, "imu_broadcast_node");
-    ros::NodeHandle nh;
-    imu_pub = nh.advertise<sensor_msgs::Imu>("imu", 1000);
-
-    ROS_INFO("Started broadcasting");
-    while (ros::ok())
-    {
-        lcm.handleTimeout(5);
-    }
-
-    return 0;
-}
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -1,17 +1,14 @@
-#include <string>
-
+#include <nav_msgs/Odometry.h>
 #include <ros/ros.h>
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>

 #include "wrp_sdk/platforms/scout/scout_base.hpp"
 #include "scout_base/scout_messenger.hpp"

 using namespace westonrobot;

-int main(int argc, char **argv)
-{
+int main(int argc, char **argv) {
  // setup ROS node
  ros::init(argc, argv, "scout_odom");
  ros::NodeHandle node(""), private_node("~");
@@ -23,30 +20,38 @@ int main(int argc, char **argv)
  // fetch parameters before connecting to robot
  std::string port_name;
  private_node.param<std::string>("port_name", port_name, std::string("can0"));
-    private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
-    private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
-    private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
+  private_node.param<std::string>("odom_frame", messenger.odom_frame_,
+                                  std::string("odom"));
+  private_node.param<std::string>("base_frame", messenger.base_frame_,
+                                  std::string("base_link"));
+  private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
+                           false);
+  private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);

+  if (!messenger.simulated_robot_) {
    // connect to robot and setup ROS subscription
-    if (port_name.find("can") != std::string::npos)
-    {
+    if (port_name.find("can") != std::string::npos) {
      robot.Connect(port_name);
      ROS_INFO("Using CAN bus to talk with the robot");
-    }
-    else
-    {
+    } else {
      robot.Connect(port_name, 115200);
      ROS_INFO("Using UART to talk with the robot");
    }
+  }
  messenger.SetupSubscription();

  // publish robot state at 50Hz while listening to twist commands
-    ros::Rate rate_50hz(50); // 50Hz
-    while (true)
-    {
+  ros::Rate rate(50);
+  while (true) {
+    if (!messenger.simulated_robot_) {
      messenger.PublishStateToROS();
+    } else {
+      double linear, angular;
+      messenger.GetCurrentMotionCmdForSim(linear, angular);
+      messenger.PublishSimStateToROS(linear, angular);
+    }
    ros::spinOnce();
-        rate_50hz.sleep();
+    rate.sleep();
  }

  return 0;
--- a/scout_bringup/launch/scout_gazebo_sim_empty.launch
+++ b/scout_bringup/launch/scout_gazebo_sim_empty.launch
@@ -1,4 +1,4 @@
 <launch>
+    <!-- Scout base only (with no onboard sensors) in an empty world -->
    <include file="$(find scout_gazebo_sim)/launch/scout_empty_world.launch" />
-    <include file="$(find scout_base)/launch/scout_base_sim.launch" />
 </launch>
--- a/scout_bringup/launch/scout_gazebo_sim_playpen.launch
+++ b/scout_bringup/launch/scout_gazebo_sim_playpen.launch
@@ -0,0 +1,4 @@
+<launch>
+    <!-- Scout base with a hokuyo laser in an testing world -->
+    <include file="$(find scout_gazebo_sim)/launch/scout_playpen.launch" />
+</launch>
--- a/scout_bringup/launch/scout_base_webots_sim.launch
+++ b/scout_bringup/launch/scout_base_webots_sim.launch
--- a/scout_description/CMakeLists.txt
+++ b/scout_description/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED COMPONENTS roslaunch)

 catkin_package()

-roslaunch_add_file_check(launch)
+# roslaunch_add_file_check(launch)

 install(
  DIRECTORY launch meshes urdf
--- a/scout_description/launch/scout_v2_sensors.launch
+++ b/scout_description/launch/scout_v2_sensors.launch
@@ -0,0 +1,10 @@
+
+<launch>
+    <arg name="robot_namespace" default="/"/>
+    <arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
+        robot_namespace:=$(arg robot_namespace) 
+        onboard_sensors:='true'
+        urdf_extras:=$(arg urdf_extras)" />
+</launch>
--- a/scout_description/launch/scout_v2_stock.launch
+++ b/scout_description/launch/scout_v2_stock.launch
@@ -5,5 +5,6 @@

    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
        robot_namespace:=$(arg robot_namespace) 
+        onboard_sensors:='false'
        urdf_extras:=$(arg urdf_extras)" />
 </launch>
--- a/scout_description/meshes/hokuyo.dae
+++ b/scout_description/meshes/hokuyo.dae
--- a/scout_description/proto/ScoutV2.proto
+++ b/scout_description/proto/ScoutV2.proto
--- a/scout_description/urdf/onboard_sensors.urdf
+++ b/scout_description/urdf/onboard_sensors.urdf
@@ -0,0 +1,31 @@
+<robot>
+    <joint name="hokuyo_joint" type="fixed">
+        <origin xyz="0.26 0 0.3" rpy="0 0 0"/>
+        <parent link="base_link"/>
+        <axis xyz="0 1 0" />
+        <child link="hokuyo_link"/>
+    </joint>
+
+    <!-- Hokuyo Laser -->
+    <link name="hokuyo_link">
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.1 0.1 0.1"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://scout_description/meshes/hokuyo.dae"/>
+            </geometry>
+        </visual>
+
+        <inertial>
+            <mass value="1e-5" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+        </inertial>
+    </link>
+</robot>
--- a/scout_description/urdf/scout_v2.gazebo
+++ b/scout_description/urdf/scout_v2.gazebo
@@ -32,7 +32,7 @@ Reference:
    <!-- kp spring constant, kd damping constant -->
    <gazebo>
        <mu1 value="1.0"/>
-        <mu2 value="0.9"/>
+        <mu2 value="1.0"/>
        <kp value="10000000.0" />
        <kd value="1.0" />
        <fdir1 value="1 0 0"/>
@@ -40,6 +40,43 @@ Reference:
        <maxContacts value="64"/>
    </gazebo>

+    <!-- hokuyo -->
+    <gazebo reference="hokuyo_link">
+        <sensor type="ray" name="head_hokuyo_sensor">
+            <pose>0 0 0 0 0 0</pose>
+            <visualize>false</visualize>
+            <update_rate>40</update_rate>
+            <ray>
+                <scan>
+                    <horizontal>
+                        <samples>720</samples>
+                        <resolution>1</resolution>
+                        <min_angle>-1.570796</min_angle>
+                        <max_angle>1.570796</max_angle>
+                    </horizontal>
+                </scan>
+                <range>
+                    <min>0.10</min>
+                    <max>30.0</max>
+                    <resolution>0.01</resolution>
+                </range>
+                <noise>
+                    <type>gaussian</type>
+                    <!-- Noise parameters based on published spec for Hokuyo laser
+               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+               reading. -->
+                    <mean>0.0</mean>
+                    <stddev>0.01</stddev>
+                </noise>
+            </ray>
+            <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+                <topicName>/scan</topicName>
+                <frameName>hokuyo_link</frameName>
+            </plugin>
+        </sensor>
+    </gazebo>
+
    <!-- <gazebo>
        <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
            <updateRate>100.0</updateRate>
--- a/scout_description/urdf/scout_v2.proto
+++ b/scout_description/urdf/scout_v2.proto
@@ -0,0 +1,6 @@
+#VRML_SIM R2019a utf8
+# license: Apache License 2.0
+# license url: http://www.apache.org/licenses/LICENSE-2.0
+# This is a proto file for Webots for the ScoutV2
+# Extracted from: ./scout_v2.urdf
+
--- a/scout_description/urdf/scout_v2.urdf
+++ b/scout_description/urdf/scout_v2.urdf
@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="scout_v2">
+  <!-- Base link -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.008"/>
+      <geometry>
+        <box size="0.925 0.38 0.21"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.035"/>
+      <geometry>
+        <box size="0.154166666667 0.627 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="40"/>
+      <origin xyz="0.0 0.0 0.0"/>
+      <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
+    </inertial>
+  </link>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <!-- Additional definitions -->
+  <!-- <xacro:include filename="$(arg urdf_extras)" /> -->
+  <!-- Gazebo definitions  -->
+  <!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
+</robot>
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -5,6 +5,7 @@

    <xacro:arg name="robot_namespace" default="/" />
    <xacro:arg name="urdf_extras" default="empty.urdf" />
+    <xacro:arg name="onboard_sensors" default="true" />

    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
@@ -52,6 +53,14 @@
        <child link="chassis_link" />
    </joint> -->

+    <link name="base_footprint"/>
+
+    <joint name="base_footprint_joint" type="fixed">
+        <origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="base_footprint" />
+    </joint>
+
    <link name="inertial_link">
        <inertial>
            <mass value="40" />
@@ -93,6 +102,11 @@
        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
    </xacro:scout_wheel_type2>

+    <!-- Onboard sensors -->
+    <xacro:if value="$(arg onboard_sensors)">
+        <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
+    </xacro:if>
+
    <!-- Additional definitions -->
    <xacro:include filename="$(arg urdf_extras)" />

--- a/scout_description/urdf/scout_v2_webots.xacro
+++ b/scout_description/urdf/scout_v2_webots.xacro
@@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+
+<robot name="scout_v2" 
+    xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="robot_namespace" default="/" />
+    <xacro:arg name="urdf_extras" default="empty.urdf" />
+    <xacro:arg name="onboard_sensors" default="false" />
+
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
+
+    <!-- Variables -->
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Vehicle Geometries -->
+    <xacro:property name="base_x_size" value="0.9250000" />
+    <xacro:property name="base_y_size" value="0.380000" />
+    <xacro:property name="base_z_size" value="0.210000" />
+
+    <xacro:property name="wheelbase" value="0.498" />
+    <xacro:property name="track" value="0.58306" />
+    <xacro:property name="wheel_vertical_offset" value="-0.0702" />
+
+    <xacro:property name="wheel_length" value="1.1653e-01" />
+    <xacro:property name="wheel_radius" value="1.6459e-01" />
+
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_description/meshes/base_link.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.008" rpy="0 0 0" />
+            <geometry>
+                <box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
+            </geometry>
+        </collision>
+        <collision>
+            <origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
+            <geometry>
+                <box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="40" />
+            <origin xyz="0.0 0.0 0.0" />
+            <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
+        </inertial>
+    </link>
+
+    <!-- Scout wheel macros -->
+    <!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
+    <!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
+    <xacro:scout_wheel_type1 wheel_prefix="front_right">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="front_left">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type2>
+    <xacro:scout_wheel_type1 wheel_prefix="rear_left">
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="rear_right">
+        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type2>
+
+    <!-- Onboard sensors -->
+    <xacro:if value="$(arg onboard_sensors)">
+        <!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
+        <xacro:sensor_frame /> -->
+        <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
+    </xacro:if>
+
+    <!-- Additional definitions -->
+    <!-- <xacro:include filename="$(arg urdf_extras)" /> -->
+
+    <!-- Gazebo definitions  -->
+    <!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
+</robot>
--- a/scout_gazebo_sim/CMakeLists.txt
+++ b/scout_gazebo_sim/CMakeLists.txt
@@ -39,7 +39,7 @@ target_link_libraries(scout_skid_steer_controller scout_gazebo ${catkin_LIBRARIE
 ## Install ##
 #############

-roslaunch_add_file_check(launch)
+# roslaunch_add_file_check(launch)

 install(
  DIRECTORY launch worlds
--- a/scout_gazebo_sim/launch/scout_empty_world.launch
+++ b/scout_gazebo_sim/launch/scout_empty_world.launch
@@ -1,5 +1,4 @@
 <launch>
-
    <arg name="robot_namespace" default="/"/>
    <arg name="world_name" default="$(find scout_gazebo_sim)worlds/weston_robot_empty.world"/>

@@ -12,7 +11,8 @@
        <arg name="debug" value="false"/>
    </include>

-    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_base.launch"></include>
+    <include file="$(find scout_base)/launch/scout_base_sim.launch" />

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
 </launch>
--- a/scout_gazebo_sim/launch/scout_playpen.launch
+++ b/scout_gazebo_sim/launch/scout_playpen.launch
@@ -37,7 +37,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
        <arg name="debug" value="false"/>
    </include>

-    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
+    <include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_sensors.launch"></include>
+    <include file="$(find scout_base)/launch/scout_base_sim.launch" />

-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
+    <!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> -->
 </launch>
--- a/scout_gazebo_sim/launch/spawn_scout_v2_base.launch
+++ b/scout_gazebo_sim/launch/spawn_scout_v2_base.launch
@@ -5,7 +5,7 @@
    <arg name="z" default="0.0"/>
    <arg name="yaw" default="0.0"/>

-    <arg name="robot_namespace" default="/"/>
+    <arg name="robot_namespace" default=""/>

    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
    <arg name="paused" default="true" />
--- a/scout_gazebo_sim/launch/spawn_scout_v2_sensors.launch
+++ b/scout_gazebo_sim/launch/spawn_scout_v2_sensors.launch
@@ -0,0 +1,40 @@
+<launch>
+    <!-- initial pose -->
+    <arg name="x" default="0.0"/>
+    <arg name="y" default="0.0"/>
+    <arg name="z" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+
+    <arg name="robot_namespace" default=""/>
+
+    <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+    <arg name="paused" default="true" />
+    <arg name="use_sim_time" default="true" />
+    <arg name="gui" default="true" />
+    <arg name="headless" default="false" />
+    <arg name="debug" default="true" />
+
+    <include file="$(find scout_description)/launch/scout_v2_sensors.launch">
+        <arg name="robot_namespace" value="$(arg robot_namespace)" />
+    </include>
+
+    <node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
+              -y $(arg y)
+              -z $(arg z)
+              -Y $(arg yaw)
+              -unpause
+              -urdf
+              -param robot_description
+              -model 'scout$(arg robot_namespace)'" />
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
+        <param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
+    </node>
+</launch> 
--- a/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
+++ b/scout_gazebo_sim/src/scout_skid_steer_controller.cpp
@@ -11,7 +11,7 @@ using namespace westonrobot;

 int main(int argc, char **argv) {
  // setup ROS node
-  ros::init(argc, argv, "scout_odom");
+  ros::init(argc, argv, "scout_skid_steer");
  ros::NodeHandle node(""), private_node("~");

  // fetch parameters
--- a/scout_navigation/CMakeLists.txt
+++ b/scout_navigation/CMakeLists.txt
@@ -0,0 +1,209 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(scout_navigation)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+  urdf
+  xacro
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES scout_navigation
+#  CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs urdf xacro
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/scout_navigation.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/scout_navigation_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_navigation.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/scout_navigation/launch/gmapping.launch
+++ b/scout_navigation/launch/gmapping.launch
@@ -0,0 +1,11 @@
+<!-- -->
+<launch>
+    <param name="/use_sim_time" value="true"/>
+
+    <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
+        <remap from="scan" to="/scan"/>
+        <param name="base_link" value="base_footprint"/>
+    </node>
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
+</launch>
--- a/scout_navigation/launch/navigation.launch
+++ b/scout_navigation/launch/navigation.launch
@@ -0,0 +1,33 @@
+<launch>
+    <param name="/use_sim_time" value="true"/>
+    <arg name="map_file" default="$(find scout_navigation)/maps/play.yaml"/>
+
+    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen">
+        <param name="frame_id" value="map"/>
+    </node>
+
+    <node pkg="amcl" type="amcl" name="amcl" output="screen">
+        <rosparam file="$(find scout_navigation)/param/amcl_params.yaml" command="load" />
+        <param name="initial_pose_x" value="0"/>
+        <param name="initial_pose_y" value="0"/>
+        <param name="initial_pose_a" value="0"/>
+    </node>
+
+    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+        <rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
+        <rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
+        <rosparam file="$(find scout_navigation)/param/diff_drive/local_costmap_params.yaml" command="load" />
+        <rosparam file="$(find scout_navigation)/param/diff_drive/global_costmap_params.yaml" command="load" />
+        <rosparam file="$(find scout_navigation)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
+
+        <param name="base_global_planner" value="global_planner/GlobalPlanner" />
+        <param name="planner_frequency" value="1.0" />
+        <param name="planner_patience" value="5.0" />
+
+        <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
+        <param name="controller_frequency" value="5.0" />
+        <param name="controller_patience" value="15.0" />
+    </node>
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_navigation)/rviz/rviz_navigation.rviz"/>
+</launch>
--- a/scout_navigation/maps/play.pgm
+++ b/scout_navigation/maps/play.pgm
--- a/scout_navigation/maps/play.yaml
+++ b/scout_navigation/maps/play.yaml
@@ -0,0 +1,7 @@
+image: play.pgm
+resolution: 0.010000
+origin: [-20.000000, -20.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
--- a/scout_navigation/package.xml
+++ b/scout_navigation/package.xml
@@ -0,0 +1,77 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>scout_navigation</name>
+  <version>0.0.0</version>
+  <description>The scout_navigation package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="rdu@todo.todo">rdu</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/scout_navigation</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>xacro</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <build_export_depend>xacro</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/scout_navigation/param/amcl_params.yaml
+++ b/scout_navigation/param/amcl_params.yaml
@@ -0,0 +1,38 @@
+use_map_topic: true
+
+odom_frame_id: "odom"
+base_frame_id: "base_footprint"
+global_frame_id: "map"
+
+## Publish scans from best pose at a max of 10 Hz
+odom_model_type: "diff"
+odom_alpha5: 0.1
+gui_publish_rate: 10.0
+laser_max_beams: 60
+laser_max_range: 12.0
+min_particles: 500
+max_particles: 2000
+kld_err: 0.05
+kld_z: 0.99
+odom_alpha1: 0.2
+odom_alpha2: 0.2
+## translation std dev, m 
+odom_alpha3: 0.2
+odom_alpha4: 0.2
+laser_z_hit: 0.5
+aser_z_short: 0.05
+laser_z_max: 0.05
+laser_z_rand: 0.5
+laser_sigma_hit: 0.2
+laser_lambda_short: 0.1
+laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
+laser_likelihood_max_dist: 2.0
+update_min_d: 0.25
+update_min_a: 0.2
+
+resample_interval: 1
+
+## Increase tolerance because the computer can get quite busy 
+transform_tolerance: 1.0
+recovery_alpha_slow: 0.001
+recovery_alpha_fast: 0.1
--- a/scout_navigation/param/diff_drive/costmap_common_params.yaml
+++ b/scout_navigation/param/diff_drive/costmap_common_params.yaml
@@ -0,0 +1,33 @@
+
+#---standard pioneer footprint---
+#---(in meters)---
+#robot_radius: 0.25 #0.17
+#footprint_padding: 0.00
+
+footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
+
+transform_tolerance: 0.2
+map_type: costmap
+
+always_send_full_costmap: true
+
+obstacle_layer:
+ enabled: true
+ obstacle_range: 3.0
+ raytrace_range: 4.0
+ inflation_radius: 0.2
+ track_unknown_space: true
+ combination_method: 1
+
+ observation_sources: laser_scan_sensor
+ laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
+
+
+inflation_layer:
+  enabled:              true
+  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
+  inflation_radius:     0.5  # max. distance from an obstacle at which costs are incurred for planning paths.
+
+static_layer:
+  enabled:              true
+  map_topic:            "/map"
--- a/scout_navigation/param/diff_drive/costmap_converter_params.yaml
+++ b/scout_navigation/param/diff_drive/costmap_converter_params.yaml
@@ -0,0 +1,31 @@
+###########################################################################################
+## NOTE: Costmap conversion is experimental. Its purpose is to combine many point        ##
+## obstales into clusters, computed in a separate thread in order to improve the overall ## 
+## efficiency of local planning. However, the implemented conversion algorithms are in a ##
+## very early stage of development. Contributions are welcome!                           ##
+###########################################################################################
+
+TebLocalPlannerROS:
+
+  ## Costmap converter plugin   
+  #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
+  costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
+  #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
+  #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
+  costmap_converter_spin_thread: True
+  costmap_converter_rate: 5
+ 
+ 
+  ## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
+  ## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
+  costmap_converter/CostmapToLinesDBSRANSAC:
+    cluster_max_distance: 0.4
+    cluster_min_pts: 2
+    ransac_inlier_distance: 0.15
+    ransac_min_inliers: 10
+    ransac_no_iterations: 1500
+    ransac_remainig_outliers: 3
+    ransac_convert_outlier_pts: True
+    ransac_filter_remaining_outlier_pts: False
+    convex_hull_min_pt_separation: 0.1
+ 
--- a/scout_navigation/param/diff_drive/dyn_obst/costmap_converter_params.yaml
+++ b/scout_navigation/param/diff_drive/dyn_obst/costmap_converter_params.yaml
@@ -0,0 +1,41 @@
+###########################################################################################
+## NOTE: Costmap conversion is experimental. Its purpose is to combine many point        ##
+## obstales into clusters, computed in a separate thread in order to improve the overall ## 
+## efficiency of local planning. However, the implemented conversion algorithms are in a ##
+## very early stage of development. Contributions are welcome!                           ##
+###########################################################################################
+
+TebLocalPlannerROS:
+
+  ## Costmap converter plugin   
+  costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
+  costmap_converter_spin_thread: True
+  costmap_converter_rate: 5
+ 
+ 
+  ## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
+  costmap_converter/CostmapToDynamicObstacles:
+    alpha_slow: 0.3
+    alpha_fast: 0.85
+    beta: 0.85
+    min_sep_between_slow_and_fast_filter: 80
+    min_occupancy_probability: 180
+    max_occupancy_neighbors: 100
+    morph_size: 1
+    filter_by_area: True
+    min_area: 3
+    max_area: 300
+    filter_by_circularity: True
+    min_circularity: 0.2
+    max_circularity: 1.0
+    filter_by_inertia: True
+    min_intertia_ratio: 0.2
+    max_inertia_ratio: 1.0
+    filter_by_convexity: False
+    min_convexity: 0.0
+    max_convexity: 1.0
+    dt: 0.2
+    dist_thresh: 60.0
+    max_allowed_skipped_frames: 3
+    max_trace_length: 10
+    static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
--- a/scout_navigation/param/diff_drive/dyn_obst/global_costmap_params.yaml
+++ b/scout_navigation/param/diff_drive/dyn_obst/global_costmap_params.yaml
@@ -0,0 +1,16 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: robot_0/base_link
+  update_frequency: 1.0
+  publish_frequency: 0.5
+  static_map: true
+ 
+  transform_tolerance: 0.5
+  plugins:
+    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
+    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
+
+
+
+
--- a/scout_navigation/param/diff_drive/dyn_obst/local_costmap_params.yaml
+++ b/scout_navigation/param/diff_drive/dyn_obst/local_costmap_params.yaml
@@ -0,0 +1,15 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: robot_0/base_link
+  update_frequency: 5.0
+  publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
+  static_map: false
+  rolling_window: true
+  width: 12
+  height: 12
+  resolution: 0.1
+  transform_tolerance: 0.5
+  
+  plugins:
+   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
+   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
--- a/scout_navigation/param/diff_drive/dyn_obst/teb_local_planner_params.yaml
+++ b/scout_navigation/param/diff_drive/dyn_obst/teb_local_planner_params.yaml
@@ -0,0 +1,83 @@
+TebLocalPlannerROS:
+
+ odom_topic: odom
+    
+ # Trajectory
+  
+ teb_autosize: True
+ dt_ref: 0.3
+ dt_hysteresis: 0.1
+ global_plan_overwrite_orientation: True
+ allow_init_with_backwards_motion: False
+ max_global_plan_lookahead_dist: 3.0
+ feasibility_check_no_poses: 5
+    
+ # Robot
+         
+ max_vel_x: 0.4
+ max_vel_x_backwards: 0.2
+ max_vel_y: 0.0
+ max_vel_theta: 0.3
+ acc_lim_x: 0.5
+ acc_lim_theta: 0.5
+ min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
+
+ footprint_model:
+   type: "point"
+
+ # GoalTolerance
+    
+ xy_goal_tolerance: 0.2
+ yaw_goal_tolerance: 0.1
+ free_goal_vel: False
+    
+ # Obstacles
+    
+ min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
+ inflation_dist: 0.8
+ dynamic_obstacle_inflation_dist: 0.6
+ include_dynamic_obstacles: True
+ include_costmap_obstacles: True
+ costmap_obstacles_behind_robot_dist: 1.5
+ obstacle_poses_affected: 30
+ # costmap_converter parameters are defined in costmap_converter_params.yaml
+
+ # Optimization
+    
+ no_inner_iterations: 5
+ no_outer_iterations: 4
+ optimization_activate: True
+ optimization_verbose: False
+ penalty_epsilon: 0.1
+ weight_max_vel_x: 3
+ weight_max_vel_theta: 1
+ weight_acc_lim_x: 2
+ weight_acc_lim_theta: 2
+ weight_kinematics_nh: 1000
+ weight_kinematics_forward_drive: 1
+ weight_kinematics_turning_radius: 1
+ weight_optimaltime: 1
+ weight_obstacle: 50
+ weight_inflation: 0.3
+ weight_dynamic_obstacle: 50
+ weight_dynamic_obstacle_inflation: 0.3
+ weight_adapt_factor: 2
+
+ # Homotopy Class Planner
+
+ enable_homotopy_class_planning: True
+ enable_multithreading: True
+ simple_exploration: False
+ max_number_classes: 4
+ selection_cost_hysteresis: 1.0
+ selection_obst_cost_scale: 1.0
+ selection_alternative_time_cost: True
+ 
+ roadmap_graph_no_samples: 15
+ roadmap_graph_area_width: 5
+ h_signature_prescaler: 0.5
+ h_signature_threshold: 0.1
+ obstacle_keypoint_offset: 0.1
+ obstacle_heading_threshold: 0.45
+ visualize_hc_graph: False
+ visualize_with_time_as_z_axis_scale: 0.2
--- a/scout_navigation/param/diff_drive/global_costmap_params.yaml
+++ b/scout_navigation/param/diff_drive/global_costmap_params.yaml
@@ -0,0 +1,16 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 1.0
+  publish_frequency: 0.5
+  static_map: true
+ 
+  transform_tolerance: 0.5
+  plugins:
+    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
+    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
+
+
+
+
--- a/scout_navigation/param/diff_drive/local_costmap_params.yaml
+++ b/scout_navigation/param/diff_drive/local_costmap_params.yaml
@@ -0,0 +1,15 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 5.5
+  height: 5.5
+  resolution: 0.1
+  transform_tolerance: 0.5
+  
+  plugins:
+   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
+   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
--- a/scout_navigation/param/diff_drive/teb_local_planner_params.yaml
+++ b/scout_navigation/param/diff_drive/teb_local_planner_params.yaml
@@ -0,0 +1,112 @@
+TebLocalPlannerROS:
+
+ odom_topic: odom
+    
+ # Trajectory
+  
+ teb_autosize: True
+ dt_ref: 0.3
+ dt_hysteresis: 0.1
+ max_samples: 500
+ global_plan_overwrite_orientation: True
+ allow_init_with_backwards_motion: False
+ max_global_plan_lookahead_dist: 3.0
+ global_plan_viapoint_sep: -1
+ global_plan_prune_distance: 1
+ exact_arc_length: False
+ feasibility_check_no_poses: 5
+ publish_feedback: False
+    
+ # Robot
+         
+ max_vel_x: 0.8 #0.4
+ max_vel_x_backwards: 0.2
+ max_vel_y: 0.0
+ max_vel_theta: 1.8 #0.3
+ acc_lim_x: 0.5
+ acc_lim_theta: 1.8 #0.5
+ min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
+
+ footprint_model:
+   type: "line"
+   line_start: [-0.4, 0.0] 
+   line_end: [0.4, 0.0]   
+
+ # GoalTolerance
+    
+ xy_goal_tolerance: 0.2
+ yaw_goal_tolerance: 0.1
+ free_goal_vel: False
+ complete_global_plan: True
+    
+ # Obstacles
+    
+ min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
+ inflation_dist: 0.6
+ include_costmap_obstacles: True
+ costmap_obstacles_behind_robot_dist: 1.5
+ obstacle_poses_affected: 15
+
+ dynamic_obstacle_inflation_dist: 0.6
+ include_dynamic_obstacles: True
+
+ costmap_converter_plugin: ""
+ costmap_converter_spin_thread: True
+ costmap_converter_rate: 5
+
+ # Optimization
+    
+ no_inner_iterations: 5
+ no_outer_iterations: 4
+ optimization_activate: True
+ optimization_verbose: False
+ penalty_epsilon: 0.1
+ obstacle_cost_exponent: 4
+ weight_max_vel_x: 2
+ weight_max_vel_theta: 1
+ weight_acc_lim_x: 1
+ weight_acc_lim_theta: 1
+ weight_kinematics_nh: 1000
+ weight_kinematics_forward_drive: 1
+ weight_kinematics_turning_radius: 1
+ weight_optimaltime: 1 # must be > 0
+ weight_shortest_path: 0
+ weight_obstacle: 100
+ weight_inflation: 0.2
+ weight_dynamic_obstacle: 10
+ weight_dynamic_obstacle_inflation: 0.2
+ weight_viapoint: 1
+ weight_adapt_factor: 2
+
+ # Homotopy Class Planner
+
+ enable_homotopy_class_planning: True
+ enable_multithreading: True
+ max_number_classes: 4
+ selection_cost_hysteresis: 1.0
+ selection_prefer_initial_plan: 0.9
+ selection_obst_cost_scale: 100.0
+ selection_alternative_time_cost: False
+ 
+ roadmap_graph_no_samples: 15
+ roadmap_graph_area_width: 5
+ roadmap_graph_area_length_scale: 1.0
+ h_signature_prescaler: 0.5
+ h_signature_threshold: 0.1
+ obstacle_heading_threshold: 0.45
+ switching_blocking_period: 0.0
+ viapoints_all_candidates: True
+ delete_detours_backwards: True
+ max_ratio_detours_duration_best_duration: 3.0
+ visualize_hc_graph: False
+ visualize_with_time_as_z_axis_scale: False
+
+# Recovery
+ 
+ shrink_horizon_backup: True
+ shrink_horizon_min_duration: 10
+ oscillation_recovery: True
+ oscillation_v_eps: 0.1
+ oscillation_omega_eps: 0.1
+ oscillation_recovery_min_duration: 10
+ oscillation_filter_duration: 10
--- a/scout_navigation/rviz/mapping.rviz
+++ b/scout_navigation/rviz/mapping.rviz
@@ -0,0 +1,252 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Odometry1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 508
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1.12401e-37
+      Min Color: 0; 0; 0
+      Min Intensity: 1.12401e-37
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /robot/laser/scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.1
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 100
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0.1
+      Topic: /odom
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hokuyo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_link:
+          Value: true
+        hokuyo_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        wheel_1:
+          Value: true
+        wheel_2:
+          Value: true
+        wheel_3:
+          Value: true
+        wheel_4:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 8.13564
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.860398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.9304
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 681
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1079
+  X: 783
+  Y: 50
--- a/scout_navigation/rviz/rviz_navigation.rviz
+++ b/scout_navigation/rviz/rviz_navigation.rviz
@@ -0,0 +1,329 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 81
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Robot1
+      Splitter Ratio: 0.605095983
+    Tree Height: 744
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 50
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Arrow Length: 0.300000012
+          Axes Length: 0.300000012
+          Axes Radius: 0.00999999978
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.0700000003
+          Head Radius: 0.0299999993
+          Name: TebPoses
+          Shaft Length: 0.230000004
+          Shaft Radius: 0.00999999978
+          Shape: Arrow (Flat)
+          Topic: /move_base/TebLocalPlannerROS/teb_poses
+          Unreliable: false
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
+          Name: TebMarker
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: LocalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /move_base/TebLocalPlannerROS/local_plan
+          Unreliable: false
+          Value: true
+        - Alpha: 0.400000006
+          Class: rviz/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: true
+          Name: LocalCostmap
+          Topic: /move_base/local_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+      Enabled: true
+      Name: Local Planner
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 255; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: GlobalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /move_base/TebLocalPlannerROS/global_plan
+          Unreliable: false
+          Value: true
+        - Alpha: 0.699999988
+          Class: rviz/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: true
+          Name: GlobalCostmap
+          Topic: /move_base/global_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Class: rviz/Polygon
+          Color: 85; 0; 255
+          Enabled: true
+          Name: Robot Footprint
+          Topic: /move_base/local_costmap/footprint
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999999
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: LaserScan
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.00999999978
+          Style: Flat Squares
+          Topic: /scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Arrow Length: 0.100000001
+          Axes Length: 0.300000012
+          Axes Radius: 0.00999999978
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.0700000003
+          Head Radius: 0.0299999993
+          Name: AMCL Particles
+          Shaft Length: 0.230000004
+          Shaft Radius: 0.00999999978
+          Shape: Arrow (Flat)
+          Topic: /particlecloud
+          Unreliable: false
+          Value: true
+        - Class: rviz/TF
+          Enabled: false
+          Frame Timeout: 15
+          Frames:
+            All Enabled: true
+          Marker Scale: 1
+          Name: TF
+          Show Arrows: true
+          Show Axes: true
+          Show Names: true
+          Tree:
+            {}
+          Update Interval: 0
+          Value: false
+        - Angle Tolerance: 0.100000001
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.300000012
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: false
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.100000001
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.100000001
+            Color: 255; 25; 0
+            Head Length: 0.300000012
+            Head Radius: 0.100000001
+            Shaft Length: 1
+            Shaft Radius: 0.0500000007
+            Value: Arrow
+          Topic: /odom
+          Unreliable: false
+          Value: false
+      Enabled: true
+      Name: Robot
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 23.5006466
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.338720083
+        Y: 0.705890715
+        Z: -1.42741621
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.56480002
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.71043015
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1028
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 928
+  X: 65
+  Y: 24
--- a/scout_navigation/rviz/urdf.rviz
+++ b/scout_navigation/rviz/urdf.rviz
@@ -0,0 +1,156 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back left_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back right_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front left_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front right_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.64610708
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.01039815
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.810398042
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24
--- a/scout_robot/CMakeLists.txt
+++ b/scout_robot/CMakeLists.txt
@@ -0,0 +1,212 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(scout_robot)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  urdf
+  xacro
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  CATKIN_DEPENDS urdf xacro
+#  INCLUDE_DIRS include
+#  LIBRARIES scout_robot
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/scout_robot.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/scout_robot_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY meshes rviz urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_robot.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/scout_robot/launch/display.launch
+++ b/scout_robot/launch/display.launch
@@ -0,0 +1,27 @@
+<!-- -->
+<launch>
+  <arg
+    name="model" />
+  <arg
+    name="gui"
+    default="False" />
+  <param
+    name="robot_description"
+    textfile="$(find scout_robot)/urdf/scout.urdf" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find scout_robot)/rviz/urdf.rviz" />
+</launch>
--- a/scout_robot/launch/gmapping.launch
+++ b/scout_robot/launch/gmapping.launch
@@ -0,0 +1,16 @@
+<!-- -->
+<launch>
+
+        <!--  ************** Global Parameters ***************  -->
+        <param name="/use_sim_time" value="true"/>
+
+        <!--  ************** Gmapping ***************  -->
+  	<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
+   	  <remap from="scan" to="/scan"/>
+    	  <param name="base_link" value="base_footprint"/>
+  	</node>
+
+	<!--  **************** Visualisation ****************  -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
+
+</launch>
--- a/scout_robot/launch/navigation.launch
+++ b/scout_robot/launch/navigation.launch
@@ -0,0 +1,48 @@
+<!-- 
+  Simulate a differential drive robot with the teb_local_planner in stage:
+  - map_server
+  - move_base
+  - static map
+  - amcl
+  - rviz view
+ -->
+<launch>
+
+        <!--  ************** Global Parameters ***************  -->
+        <param name="/use_sim_time" value="true"/>
+
+        <!--  ************** Navigation ***************  -->
+	<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+  	  	<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
+  	 	<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
+  		<rosparam file="$(find scout_robot)/param/diff_drive/local_costmap_params.yaml" command="load" />
+  		<rosparam file="$(find scout_robot)/param/diff_drive/global_costmap_params.yaml" command="load" />
+  		<rosparam file="$(find scout_robot)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
+
+		<param name="base_global_planner" value="global_planner/GlobalPlanner" />
+		<param name="planner_frequency" value="1.0" />
+		<param name="planner_patience" value="5.0" />
+
+		<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
+		<param name="controller_frequency" value="5.0" />
+		<param name="controller_patience" value="15.0" />
+	</node>
+
+
+	<!--  ****** Maps *****  -->
+	<node name="map_server" pkg="map_server" type="map_server" args="$(find scout_robot)/maps/play.yaml" output="screen">
+                <param name="frame_id" value="map"/>
+	</node>
+
+	<node pkg="amcl" type="amcl" name="amcl" output="screen">
+		<rosparam file="$(find scout_robot)/param/amcl_params.yaml" command="load" />
+
+	        <param name="initial_pose_x"            value="-2"/>
+		<param name="initial_pose_y"            value="-1"/>
+		<param name="initial_pose_a"            value="0"/>
+	</node>
+
+	  <!--  **************** Visualisation ****************  -->
+	  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/rviz_navigation.rviz"/>
+
+</launch>
--- a/scout_robot/launch/scout_world.launch
+++ b/scout_robot/launch/scout_world.launch
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="x_pos" default="-2.0"/>
+  <arg name="y_pos" default="-0.5"/>
+  <arg name="z_pos" default="0.0"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <!--arg name="world_name" value="$(find scout_robot)/worlds/turtlebot3_world.world"/-->
+    <arg name="world_name" value="$(find scout_robot)/worlds/clearpath_playpen.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find scout_robot)/urdf/scout.xacro'"/>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+  </node>
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
+    <param name="publish_frequency" type="double" value="50.0" />
+  </node>
+
+  <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model robot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)" />
+</launch>
--- a/scout_robot/maps/play.pgm
+++ b/scout_robot/maps/play.pgm
--- a/scout_robot/maps/play.yaml
+++ b/scout_robot/maps/play.yaml
@@ -0,0 +1,7 @@
+image: play.pgm
+resolution: 0.010000
+origin: [-20.000000, -20.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+
--- a/scout_robot/meshes/back
+++ b/scout_robot/meshes/back
--- a/scout_robot/meshes/back
+++ b/scout_robot/meshes/back
--- a/scout_robot/meshes/base_link.STL
+++ b/scout_robot/meshes/base_link.STL
--- a/scout_robot/meshes/front
+++ b/scout_robot/meshes/front
--- a/scout_robot/meshes/front
+++ b/scout_robot/meshes/front
--- a/scout_robot/meshes/hokuyo.dae
+++ b/scout_robot/meshes/hokuyo.dae
--- a/scout_robot/package.xml
+++ b/scout_robot/package.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>scout_robot</name>
+  <version>0.0.0</version>
+  <description>The scout_robot package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="a@todo.todo">a</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/scout_robot</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <depend>urdf</depend>
+  <depend>xacro</depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/scout_robot/param/amcl_params.yaml
+++ b/scout_robot/param/amcl_params.yaml
@@ -0,0 +1,38 @@
+use_map_topic: true
+
+odom_frame_id: "odom"
+base_frame_id: "base_footprint"
+global_frame_id: "map"
+
+## Publish scans from best pose at a max of 10 Hz
+odom_model_type: "diff"
+odom_alpha5: 0.1
+gui_publish_rate: 10.0
+laser_max_beams: 60
+laser_max_range: 12.0
+min_particles: 500
+max_particles: 2000
+kld_err: 0.05
+kld_z: 0.99
+odom_alpha1: 0.2
+odom_alpha2: 0.2
+## translation std dev, m 
+odom_alpha3: 0.2
+odom_alpha4: 0.2
+laser_z_hit: 0.5
+aser_z_short: 0.05
+laser_z_max: 0.05
+laser_z_rand: 0.5
+laser_sigma_hit: 0.2
+laser_lambda_short: 0.1
+laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
+laser_likelihood_max_dist: 2.0
+update_min_d: 0.25
+update_min_a: 0.2
+
+resample_interval: 1
+
+## Increase tolerance because the computer can get quite busy 
+transform_tolerance: 1.0
+recovery_alpha_slow: 0.001
+recovery_alpha_fast: 0.1
--- a/scout_robot/param/diff_drive/costmap_common_params.yaml
+++ b/scout_robot/param/diff_drive/costmap_common_params.yaml
@@ -0,0 +1,33 @@
+
+#---standard pioneer footprint---
+#---(in meters)---
+#robot_radius: 0.25 #0.17
+#footprint_padding: 0.00
+
+footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
+
+transform_tolerance: 0.2
+map_type: costmap
+
+always_send_full_costmap: true
+
+obstacle_layer:
+ enabled: true
+ obstacle_range: 3.0
+ raytrace_range: 4.0
+ inflation_radius: 0.2
+ track_unknown_space: true
+ combination_method: 1
+
+ observation_sources: laser_scan_sensor
+ laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
+
+
+inflation_layer:
+  enabled:              true
+  cost_scaling_factor:  10.0  # exponential rate at which the obstacle cost drops off (default: 10)
+  inflation_radius:     0.5  # max. distance from an obstacle at which costs are incurred for planning paths.
+
+static_layer:
+  enabled:              true
+  map_topic:            "/map"
--- a/scout_robot/param/diff_drive/costmap_converter_params.yaml
+++ b/scout_robot/param/diff_drive/costmap_converter_params.yaml
@@ -0,0 +1,31 @@
+###########################################################################################
+## NOTE: Costmap conversion is experimental. Its purpose is to combine many point        ##
+## obstales into clusters, computed in a separate thread in order to improve the overall ## 
+## efficiency of local planning. However, the implemented conversion algorithms are in a ##
+## very early stage of development. Contributions are welcome!                           ##
+###########################################################################################
+
+TebLocalPlannerROS:
+
+  ## Costmap converter plugin   
+  #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
+  costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
+  #costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
+  #costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
+  costmap_converter_spin_thread: True
+  costmap_converter_rate: 5
+ 
+ 
+  ## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
+  ## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
+  costmap_converter/CostmapToLinesDBSRANSAC:
+    cluster_max_distance: 0.4
+    cluster_min_pts: 2
+    ransac_inlier_distance: 0.15
+    ransac_min_inliers: 10
+    ransac_no_iterations: 1500
+    ransac_remainig_outliers: 3
+    ransac_convert_outlier_pts: True
+    ransac_filter_remaining_outlier_pts: False
+    convex_hull_min_pt_separation: 0.1
+ 
--- a/scout_robot/param/diff_drive/dyn_obst/costmap_converter_params.yaml
+++ b/scout_robot/param/diff_drive/dyn_obst/costmap_converter_params.yaml
@@ -0,0 +1,41 @@
+###########################################################################################
+## NOTE: Costmap conversion is experimental. Its purpose is to combine many point        ##
+## obstales into clusters, computed in a separate thread in order to improve the overall ## 
+## efficiency of local planning. However, the implemented conversion algorithms are in a ##
+## very early stage of development. Contributions are welcome!                           ##
+###########################################################################################
+
+TebLocalPlannerROS:
+
+  ## Costmap converter plugin   
+  costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
+  costmap_converter_spin_thread: True
+  costmap_converter_rate: 5
+ 
+ 
+  ## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
+  costmap_converter/CostmapToDynamicObstacles:
+    alpha_slow: 0.3
+    alpha_fast: 0.85
+    beta: 0.85
+    min_sep_between_slow_and_fast_filter: 80
+    min_occupancy_probability: 180
+    max_occupancy_neighbors: 100
+    morph_size: 1
+    filter_by_area: True
+    min_area: 3
+    max_area: 300
+    filter_by_circularity: True
+    min_circularity: 0.2
+    max_circularity: 1.0
+    filter_by_inertia: True
+    min_intertia_ratio: 0.2
+    max_inertia_ratio: 1.0
+    filter_by_convexity: False
+    min_convexity: 0.0
+    max_convexity: 1.0
+    dt: 0.2
+    dist_thresh: 60.0
+    max_allowed_skipped_frames: 3
+    max_trace_length: 10
+    static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
--- a/scout_robot/param/diff_drive/dyn_obst/global_costmap_params.yaml
+++ b/scout_robot/param/diff_drive/dyn_obst/global_costmap_params.yaml
@@ -0,0 +1,16 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: robot_0/base_link
+  update_frequency: 1.0
+  publish_frequency: 0.5
+  static_map: true
+ 
+  transform_tolerance: 0.5
+  plugins:
+    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
+    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
+
+
+
+
--- a/scout_robot/param/diff_drive/dyn_obst/local_costmap_params.yaml
+++ b/scout_robot/param/diff_drive/dyn_obst/local_costmap_params.yaml
@@ -0,0 +1,15 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: robot_0/base_link
+  update_frequency: 5.0
+  publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
+  static_map: false
+  rolling_window: true
+  width: 12
+  height: 12
+  resolution: 0.1
+  transform_tolerance: 0.5
+  
+  plugins:
+   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
+   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
--- a/scout_robot/param/diff_drive/dyn_obst/teb_local_planner_params.yaml
+++ b/scout_robot/param/diff_drive/dyn_obst/teb_local_planner_params.yaml
@@ -0,0 +1,83 @@
+TebLocalPlannerROS:
+
+ odom_topic: odom
+    
+ # Trajectory
+  
+ teb_autosize: True
+ dt_ref: 0.3
+ dt_hysteresis: 0.1
+ global_plan_overwrite_orientation: True
+ allow_init_with_backwards_motion: False
+ max_global_plan_lookahead_dist: 3.0
+ feasibility_check_no_poses: 5
+    
+ # Robot
+         
+ max_vel_x: 0.4
+ max_vel_x_backwards: 0.2
+ max_vel_y: 0.0
+ max_vel_theta: 0.3
+ acc_lim_x: 0.5
+ acc_lim_theta: 0.5
+ min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
+
+ footprint_model:
+   type: "point"
+
+ # GoalTolerance
+    
+ xy_goal_tolerance: 0.2
+ yaw_goal_tolerance: 0.1
+ free_goal_vel: False
+    
+ # Obstacles
+    
+ min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
+ inflation_dist: 0.8
+ dynamic_obstacle_inflation_dist: 0.6
+ include_dynamic_obstacles: True
+ include_costmap_obstacles: True
+ costmap_obstacles_behind_robot_dist: 1.5
+ obstacle_poses_affected: 30
+ # costmap_converter parameters are defined in costmap_converter_params.yaml
+
+ # Optimization
+    
+ no_inner_iterations: 5
+ no_outer_iterations: 4
+ optimization_activate: True
+ optimization_verbose: False
+ penalty_epsilon: 0.1
+ weight_max_vel_x: 3
+ weight_max_vel_theta: 1
+ weight_acc_lim_x: 2
+ weight_acc_lim_theta: 2
+ weight_kinematics_nh: 1000
+ weight_kinematics_forward_drive: 1
+ weight_kinematics_turning_radius: 1
+ weight_optimaltime: 1
+ weight_obstacle: 50
+ weight_inflation: 0.3
+ weight_dynamic_obstacle: 50
+ weight_dynamic_obstacle_inflation: 0.3
+ weight_adapt_factor: 2
+
+ # Homotopy Class Planner
+
+ enable_homotopy_class_planning: True
+ enable_multithreading: True
+ simple_exploration: False
+ max_number_classes: 4
+ selection_cost_hysteresis: 1.0
+ selection_obst_cost_scale: 1.0
+ selection_alternative_time_cost: True
+ 
+ roadmap_graph_no_samples: 15
+ roadmap_graph_area_width: 5
+ h_signature_prescaler: 0.5
+ h_signature_threshold: 0.1
+ obstacle_keypoint_offset: 0.1
+ obstacle_heading_threshold: 0.45
+ visualize_hc_graph: False
+ visualize_with_time_as_z_axis_scale: 0.2
--- a/scout_robot/param/diff_drive/global_costmap_params.yaml
+++ b/scout_robot/param/diff_drive/global_costmap_params.yaml
@@ -0,0 +1,16 @@
+global_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 1.0
+  publish_frequency: 0.5
+  static_map: true
+ 
+  transform_tolerance: 0.5
+  plugins:
+    - {name: static_layer,            type: "costmap_2d::StaticLayer"}
+    - {name: obstacle_layer,          type: "costmap_2d::VoxelLayer"}
+    - {name: inflation_layer,         type: "costmap_2d::InflationLayer"}
+
+
+
+
--- a/scout_robot/param/diff_drive/local_costmap_params.yaml
+++ b/scout_robot/param/diff_drive/local_costmap_params.yaml
@@ -0,0 +1,15 @@
+local_costmap:
+  global_frame: map
+  robot_base_frame: base_footprint
+  update_frequency: 5.0
+  publish_frequency: 2.0
+  static_map: false
+  rolling_window: true
+  width: 5.5
+  height: 5.5
+  resolution: 0.1
+  transform_tolerance: 0.5
+  
+  plugins:
+   - {name: static_layer,        type: "costmap_2d::StaticLayer"}
+   - {name: obstacle_layer,      type: "costmap_2d::ObstacleLayer"}
--- a/scout_robot/param/diff_drive/teb_local_planner_params.yaml
+++ b/scout_robot/param/diff_drive/teb_local_planner_params.yaml
@@ -0,0 +1,112 @@
+TebLocalPlannerROS:
+
+ odom_topic: odom
+    
+ # Trajectory
+  
+ teb_autosize: True
+ dt_ref: 0.3
+ dt_hysteresis: 0.1
+ max_samples: 500
+ global_plan_overwrite_orientation: True
+ allow_init_with_backwards_motion: False
+ max_global_plan_lookahead_dist: 3.0
+ global_plan_viapoint_sep: -1
+ global_plan_prune_distance: 1
+ exact_arc_length: False
+ feasibility_check_no_poses: 5
+ publish_feedback: False
+    
+ # Robot
+         
+ max_vel_x: 0.8 #0.4
+ max_vel_x_backwards: 0.2
+ max_vel_y: 0.0
+ max_vel_theta: 1.8 #0.3
+ acc_lim_x: 0.5
+ acc_lim_theta: 1.8 #0.5
+ min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
+
+ footprint_model:
+   type: "line"
+   line_start: [-0.4, 0.0] 
+   line_end: [0.4, 0.0]   
+
+ # GoalTolerance
+    
+ xy_goal_tolerance: 0.2
+ yaw_goal_tolerance: 0.1
+ free_goal_vel: False
+ complete_global_plan: True
+    
+ # Obstacles
+    
+ min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
+ inflation_dist: 0.6
+ include_costmap_obstacles: True
+ costmap_obstacles_behind_robot_dist: 1.5
+ obstacle_poses_affected: 15
+
+ dynamic_obstacle_inflation_dist: 0.6
+ include_dynamic_obstacles: True
+
+ costmap_converter_plugin: ""
+ costmap_converter_spin_thread: True
+ costmap_converter_rate: 5
+
+ # Optimization
+    
+ no_inner_iterations: 5
+ no_outer_iterations: 4
+ optimization_activate: True
+ optimization_verbose: False
+ penalty_epsilon: 0.1
+ obstacle_cost_exponent: 4
+ weight_max_vel_x: 2
+ weight_max_vel_theta: 1
+ weight_acc_lim_x: 1
+ weight_acc_lim_theta: 1
+ weight_kinematics_nh: 1000
+ weight_kinematics_forward_drive: 1
+ weight_kinematics_turning_radius: 1
+ weight_optimaltime: 1 # must be > 0
+ weight_shortest_path: 0
+ weight_obstacle: 100
+ weight_inflation: 0.2
+ weight_dynamic_obstacle: 10
+ weight_dynamic_obstacle_inflation: 0.2
+ weight_viapoint: 1
+ weight_adapt_factor: 2
+
+ # Homotopy Class Planner
+
+ enable_homotopy_class_planning: True
+ enable_multithreading: True
+ max_number_classes: 4
+ selection_cost_hysteresis: 1.0
+ selection_prefer_initial_plan: 0.9
+ selection_obst_cost_scale: 100.0
+ selection_alternative_time_cost: False
+ 
+ roadmap_graph_no_samples: 15
+ roadmap_graph_area_width: 5
+ roadmap_graph_area_length_scale: 1.0
+ h_signature_prescaler: 0.5
+ h_signature_threshold: 0.1
+ obstacle_heading_threshold: 0.45
+ switching_blocking_period: 0.0
+ viapoints_all_candidates: True
+ delete_detours_backwards: True
+ max_ratio_detours_duration_best_duration: 3.0
+ visualize_hc_graph: False
+ visualize_with_time_as_z_axis_scale: False
+
+# Recovery
+ 
+ shrink_horizon_backup: True
+ shrink_horizon_min_duration: 10
+ oscillation_recovery: True
+ oscillation_v_eps: 0.1
+ oscillation_omega_eps: 0.1
+ oscillation_recovery_min_duration: 10
+ oscillation_filter_duration: 10
--- a/scout_robot/readme.md
+++ b/scout_robot/readme.md
@@ -0,0 +1,44 @@
+The scout robot simulated in gazebo.
+
+System environment:
+
+Ubuntu 16.04
+ros kinetic
+gazebo7
+
+Required configuration environment:
+
+sudo apt-get install ros-kinetic-navigation
+sudo apt-get install ros-kinetic-slam-gmapping
+sudo apt-get install ros-kinetic-openslam-gmapping
+sudo apt-get install ros-kinetic-teleop-twist-keyboard
+sudo apt-get install ros-kinetic-teb-local-planner
+
+Start the robot world:
+
+roslaunch scout_robot scout_world.launch
+
+If you can't open the gazebo,you can see this blog: 
+https://blog.csdn.net/qq_37427972/article/details/82853655
+
+And don't forget to install the graphics driver.
+
+We can teleop the robot by using this command:
+
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py 
+
+Start the gmapping:
+
+roslaunch scout_robot gmapping.launch
+
+After finishing to build the map,we can save the map data by using this:
+
+rosrun map_server map_saver -f map
+
+Start the navigation:
+
+roslaunch scout_robot navigation.launch
+
+Then,we can let the robot to the navigation goal by using the 2D Pose Estimate in RVIZ.
+The moredetails in teb_local_planner,you can see this website:
+http://wiki.ros.org/teb_local_planner/Tutorials
--- a/scout_robot/rviz/mapping.rviz
+++ b/scout_robot/rviz/mapping.rviz
@@ -0,0 +1,252 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Odometry1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 508
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.7
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1.12401e-37
+      Min Color: 0; 0; 0
+      Min Intensity: 1.12401e-37
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /robot/laser/scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Angle Tolerance: 0.1
+      Class: rviz/Odometry
+      Color: 255; 25; 0
+      Enabled: true
+      Keep: 100
+      Length: 1
+      Name: Odometry
+      Position Tolerance: 0.1
+      Topic: /odom
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        hokuyo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        wheel_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_link:
+          Value: true
+        hokuyo_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        wheel_1:
+          Value: true
+        wheel_2:
+          Value: true
+        wheel_3:
+          Value: true
+        wheel_4:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 8.13564
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.860398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.9304
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 681
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1079
+  X: 783
+  Y: 50
--- a/scout_robot/rviz/rviz_navigation.rviz
+++ b/scout_robot/rviz/rviz_navigation.rviz
@@ -0,0 +1,329 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 81
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Robot1
+      Splitter Ratio: 0.605095983
+    Tree Height: 744
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 50
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Arrow Length: 0.300000012
+          Axes Length: 0.300000012
+          Axes Radius: 0.00999999978
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.0700000003
+          Head Radius: 0.0299999993
+          Name: TebPoses
+          Shaft Length: 0.230000004
+          Shaft Radius: 0.00999999978
+          Shape: Arrow (Flat)
+          Topic: /move_base/TebLocalPlannerROS/teb_poses
+          Unreliable: false
+          Value: true
+        - Class: rviz/Marker
+          Enabled: true
+          Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
+          Name: TebMarker
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 255; 0; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: LocalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /move_base/TebLocalPlannerROS/local_plan
+          Unreliable: false
+          Value: true
+        - Alpha: 0.400000006
+          Class: rviz/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: true
+          Name: LocalCostmap
+          Topic: /move_base/local_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+      Enabled: true
+      Name: Local Planner
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Buffer Length: 1
+          Class: rviz/Path
+          Color: 25; 255; 0
+          Enabled: true
+          Head Diameter: 0.300000012
+          Head Length: 0.200000003
+          Length: 0.300000012
+          Line Style: Lines
+          Line Width: 0.0299999993
+          Name: GlobalPath
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
+          Pose Color: 255; 85; 255
+          Pose Style: None
+          Radius: 0.0299999993
+          Shaft Diameter: 0.100000001
+          Shaft Length: 0.100000001
+          Topic: /move_base/TebLocalPlannerROS/global_plan
+          Unreliable: false
+          Value: true
+        - Alpha: 0.699999988
+          Class: rviz/Map
+          Color Scheme: map
+          Draw Behind: false
+          Enabled: true
+          Name: GlobalCostmap
+          Topic: /move_base/global_costmap/costmap
+          Unreliable: false
+          Use Timestamp: false
+          Value: true
+      Enabled: true
+      Name: Global Planner
+    - Class: rviz/Group
+      Displays:
+        - Alpha: 1
+          Class: rviz/Polygon
+          Color: 85; 0; 255
+          Enabled: true
+          Name: Robot Footprint
+          Topic: /move_base/local_costmap/footprint
+          Unreliable: false
+          Value: true
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/LaserScan
+          Color: 255; 255; 255
+          Color Transformer: Intensity
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 999999
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: LaserScan
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.00999999978
+          Style: Flat Squares
+          Topic: /scan
+          Unreliable: false
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+        - Alpha: 1
+          Arrow Length: 0.100000001
+          Axes Length: 0.300000012
+          Axes Radius: 0.00999999978
+          Class: rviz/PoseArray
+          Color: 255; 25; 0
+          Enabled: true
+          Head Length: 0.0700000003
+          Head Radius: 0.0299999993
+          Name: AMCL Particles
+          Shaft Length: 0.230000004
+          Shaft Radius: 0.00999999978
+          Shape: Arrow (Flat)
+          Topic: /particlecloud
+          Unreliable: false
+          Value: true
+        - Class: rviz/TF
+          Enabled: false
+          Frame Timeout: 15
+          Frames:
+            All Enabled: true
+          Marker Scale: 1
+          Name: TF
+          Show Arrows: true
+          Show Axes: true
+          Show Names: true
+          Tree:
+            {}
+          Update Interval: 0
+          Value: false
+        - Angle Tolerance: 0.100000001
+          Class: rviz/Odometry
+          Covariance:
+            Orientation:
+              Alpha: 0.5
+              Color: 255; 255; 127
+              Color Style: Unique
+              Frame: Local
+              Offset: 1
+              Scale: 1
+              Value: true
+            Position:
+              Alpha: 0.300000012
+              Color: 204; 51; 204
+              Scale: 1
+              Value: true
+            Value: true
+          Enabled: false
+          Keep: 100
+          Name: Odometry
+          Position Tolerance: 0.100000001
+          Shape:
+            Alpha: 1
+            Axes Length: 1
+            Axes Radius: 0.100000001
+            Color: 255; 25; 0
+            Head Length: 0.300000012
+            Head Radius: 0.100000001
+            Shaft Length: 1
+            Shaft Radius: 0.0500000007
+            Value: Arrow
+          Topic: /odom
+          Unreliable: false
+          Value: false
+      Enabled: true
+      Name: Robot
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 23.5006466
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.338720083
+        Y: 0.705890715
+        Z: -1.42741621
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.56480002
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.71043015
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1028
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 928
+  X: 65
+  Y: 24
--- a/scout_robot/rviz/urdf.rviz
+++ b/scout_robot/rviz/urdf.rviz
@@ -0,0 +1,156 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back left_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back right_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front left_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front right_Link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.64610708
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.01039815
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.810398042
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24
--- a/scout_robot/urdf/scout
+++ b/scout_robot/urdf/scout
@@ -0,0 +1,144 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot name="scout">
+    <link name="base_link">
+        <inertial>
+            <origin xyz="0.00040316 0.00018112 0.054777" rpy="0 0 0" />
+            <mass value="50.594" />
+            <inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/base_link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="1 1 1 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/base_link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="front left_Link">
+        <inertial>
+            <origin xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07" rpy="0 0 0" />
+            <mass value="6.2792" />
+            <inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/front left_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/front left_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="front left_joint" type="revolute">
+        <origin xyz="0.249 0.29153 0.024097" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="front left_Link" />
+        <axis xyz="0 1 0" />
+        <limit lower="-180" upper="180" effort="0" velocity="0" />
+    </joint>
+    <link name="back left_Link">
+        <inertial>
+            <origin xyz="1.087E-07 3.2717E-05 -2.3629E-08" rpy="0 0 0" />
+            <mass value="6.2792" />
+            <inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/back left_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/back left_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="back left_joint" type="revolute">
+        <origin xyz="-0.249 0.29153 0.024097" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="back left_Link" />
+        <axis xyz="0 -1 0" />
+        <limit lower="-180" upper="180" effort="0" velocity="0" />
+    </joint>
+    <link name="front right_Link">
+        <inertial>
+            <origin xyz="-3.3128E-07 -3.2716E-05 2.169E-08" rpy="0 0 0" />
+            <mass value="6.2792" />
+            <inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/front right_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/front right_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="front right_joint" type="revolute">
+        <origin xyz="0.24702 -0.29093 0.024097" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="front right_Link" />
+        <axis xyz="0.0067885 0.99998 0" />
+        <limit lower="-180" upper="180" effort="0" velocity="0" />
+    </joint>
+    <link name="back right_Link">
+        <inertial>
+            <origin xyz="-1.135E-07 3.2717E-05 -2.3624E-08" rpy="0 0 0" />
+            <mass value="6.2792" />
+            <inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/back right_Link.STL" />
+            </geometry>
+            <material name="">
+                <color rgba="0.79216 0.81961 0.93333 1" />
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_robot/meshes/back right_Link.STL" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="back right_joint" type="revolute">
+        <origin xyz="-0.24702 -0.29093 0.024097" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="back right_Link" />
+        <axis xyz="0.0067885 -0.99998 0" />
+        <limit lower="-180" upper="180" effort="0" velocity="0" />
+    </joint>
+</robot>
--- a/scout_robot/urdf/scout.gazebo
+++ b/scout_robot/urdf/scout.gazebo
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<robot>
+  <!-- materials -->
+  <gazebo reference="base_link">
+    <material>Gazebo/While</material>
+  </gazebo>
+
+ <gazebo reference="front left_Link">
+        <material>Gazebo/Black</material>
+ </gazebo>
+
+ <gazebo reference="back left_Link">
+        <material>Gazebo/Black</material>
+ </gazebo>
+
+ <gazebo reference="front right_Link">
+        <material>Gazebo/Black</material>
+ </gazebo>
+
+ <gazebo reference="back right_Link">
+        <material>Gazebo/Black</material>
+ </gazebo>
+
+
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>/robot</robotNamespace>
+	
+    </plugin>
+  </gazebo>
+
+  <!-- hokuyo -->
+  <gazebo reference="hokuyo_link">
+    <sensor type="ray" name="head_hokuyo_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>40</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>720</samples>
+            <resolution>1</resolution>
+            <min_angle>-1.570796</min_angle>
+            <max_angle>1.570796</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.10</min>
+          <max>30.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <!-- Noise parameters based on published spec for Hokuyo laser
+               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+               reading. -->
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+        <topicName>/scan</topicName>
+        <frameName>hokuyo_link</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>
--- a/scout_robot/urdf/scout.urdf
+++ b/scout_robot/urdf/scout.urdf
@@ -0,0 +1,279 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="scout">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="0.00040316 0.00018112 0.054777"
+        rpy="0 0 0" />
+      <mass
+        value="50.594" />
+      <inertia
+        ixx="3.1632"
+        ixy="0.0095354"
+        ixz="-0.0052362"
+        iyy="3.4936"
+        iyz="0.00027654"
+        izz="5.9359" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="front left_Link">
+    <inertial>
+      <origin
+        xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"
+        rpy="0 0 0" />
+      <mass
+        value="6.2792" />
+      <inertia
+        ixx="0.048957"
+        ixy="-1.6382E-09"
+        ixz="-8.6738E-09"
+        iyy="0.087434"
+        iyz="6.3603E-10"
+        izz="0.048957" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/front left_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/front left_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front left_joint"
+    type="revolute">
+    <origin
+      xyz="0.249 0.29153 0.024097"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="front left_Link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-180"
+      upper="180"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="back left_Link">
+    <inertial>
+      <origin
+        xyz="1.087E-07 3.2717E-05 -2.3629E-08"
+        rpy="0 0 0" />
+      <mass
+        value="6.2792" />
+      <inertia
+        ixx="0.048957"
+        ixy="8.5452E-10"
+        ixz="1.5173E-09"
+        iyy="0.087434"
+        iyz="-2.6266E-09"
+        izz="0.048957" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/back left_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/back left_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="back left_joint"
+    type="revolute">
+    <origin
+      xyz="-0.249 0.29153 0.024097"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="back left_Link" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-180"
+      upper="180"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="front right_Link">
+    <inertial>
+      <origin
+        xyz="-3.3128E-07 -3.2716E-05 2.169E-08"
+        rpy="0 0 0" />
+      <mass
+        value="6.2792" />
+      <inertia
+        ixx="0.048958"
+        ixy="0.00026119"
+        ixz="-1.925E-08"
+        iyy="0.087432"
+        iyz="3.2348E-09"
+        izz="0.048957" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/front right_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/front right_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="front right_joint"
+    type="revolute">
+    <origin
+      xyz="0.24702 -0.29093 0.024097"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="front right_Link" />
+    <axis
+      xyz="0.0067885 0.99998 0" />
+    <limit
+      lower="-180"
+      upper="180"
+      effort="0"
+      velocity="0" />
+  </joint>
+  <link
+    name="back right_Link">
+    <inertial>
+      <origin
+        xyz="-1.135E-07 3.2717E-05 -2.3624E-08"
+        rpy="0 0 0" />
+      <mass
+        value="6.2792" />
+      <inertia
+        ixx="0.048958"
+        ixy="-0.0002612"
+        ixz="1.5517E-09"
+        iyy="0.087432"
+        iyz="-2.626E-09"
+        izz="0.048957" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/back right_Link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://scout_robot/meshes/back right_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="back right_joint"
+    type="revolute">
+    <origin
+      xyz="-0.24702 -0.29093 0.024097"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="back right_Link" />
+    <axis
+      xyz="0.0067885 -0.99998 0" />
+    <limit
+      lower="-180"
+      upper="180"
+      effort="0"
+      velocity="0" />
+  </joint>
+</robot>
--- a/scout_robot/urdf/scout.xacro
+++ b/scout_robot/urdf/scout.xacro
@@ -0,0 +1,255 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from scout.urdf                     | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<!--robot name="scout"-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+	name="scout">
+
+	<xacro:macro name="default_inertial" params="mass">
+               <inertial>
+                       <mass value="${mass}" />
+                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
+                                iyy="1.0" iyz="0.0"
+                                izz="1.0" />
+               </inertial>
+	</xacro:macro>
+
+  <link name="base_footprint">
+    <visual>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+	<origin rpy="0 0 0" xyz="0 0 0"/>
+      </visual>
+      <xacro:default_inertial mass="0.0001"/>
+  </link>
+
+  <xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
+
+  <gazebo reference="base_footprint">
+    <material>Gazebo/Green</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+
+  <joint name="base_footprint_joint" type="fixed">
+    <origin xyz="0 0 0" />
+    <parent link="base_footprint" />
+    <child link="base_link" />
+  </joint>
+
+  <!-- the model --> 
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
+      <mass value="50.594"/>
+      <inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/base_link.STL"/>
+      </geometry>
+      <!--material name="">
+        <color rgba="1 1 1 1"/>
+      </material-->
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="front left_Link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
+      <mass value="6.2792"/>
+      <inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+      <!--material name="black">
+        <color rgba="0 0 0 1"/>
+      </material-->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="front left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
+    <parent link="base_link"/>
+    <child link="front left_Link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-180" upper="180" velocity="0"/>
+  </joint>
+
+  <link name="back left_Link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
+      <mass value="6.2792"/>
+      <inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+      <!--material name="black">
+        <color rgba="0 0 0 1"/>
+      </material-->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="back left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
+    <parent link="base_link"/>
+    <child link="back left_Link"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="0" lower="-180" upper="180" velocity="0"/>
+  </joint>
+
+  <link name="front right_Link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
+      <mass value="6.2792"/>
+      <inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+      <!--material name="black">
+        <color rgba="0 0 0 1"/>
+      </material-->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="front right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
+    <parent link="base_link"/>
+    <child link="front right_Link"/>
+    <axis xyz="0.0067885 0.99998 0"/>
+    <limit effort="0" lower="-180" upper="180" velocity="0"/>
+  </joint>
+
+  <link name="back right_Link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
+      <mass value="6.2792"/>
+      <inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1"/>
+      </material>
+      <!--material name="black">
+        <color rgba="0 0 0 1"/>
+      </material-->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="back right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
+    <parent link="base_link"/>
+    <child link="back right_Link"/>
+    <axis xyz="0.0067885 -0.99998 0"/>
+    <limit effort="0" lower="-180" upper="180" velocity="0"/>
+  </joint>
+
+  <!-- Hokuyo joint -->
+  <joint name="hokuyo_joint" type="fixed">
+    <origin xyz="0.26 0 0.3" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <axis xyz="0 1 0" />
+    <child link="hokuyo_link"/>
+  </joint>
+
+  <!-- Hokuyo Laser -->
+  <link name="hokuyo_link">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+	<box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_robot/meshes/hokuyo.dae"/>
+      </geometry>
+    </visual>
+
+    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>
+  </link>
+
+  <!-- Drive controller -->
+  <gazebo>
+    <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
+      <commandTopic>cmd_vel</commandTopic>
+      <odometryTopic>odom</odometryTopic>
+      <odometryFrame>odom</odometryFrame>
+      <odometryRate>20.0</odometryRate>
+      <robotBaseFrame>base_footprint</robotBaseFrame>
+    </plugin>
+  </gazebo>
+
+</robot>
+
--- a/scout_robot/worlds/clearpath_playpen.world
+++ b/scout_robot/worlds/clearpath_playpen.world
--- a/scout_robot/worlds/empty.world
+++ b/scout_robot/worlds/empty.world
@@ -0,0 +1,41 @@
+<sdf version="1.4">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+  </world>
+
+  <scene>
+    <ambient>0.4 0.4 0.4 1</ambient>
+    <background>0.7 0.7 0.7 1</background>
+    <shadows>true</shadows>
+  </scene>
+
+</sdf>
--- a/scout_robot/worlds/turtlebot3_world.world
+++ b/scout_robot/worlds/turtlebot3_world.world
@@ -0,0 +1,52 @@
+<sdf version='1.4'>
+  <world name='default'>
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <!-- Load world -->
+    <include>
+      <uri>model://turtlebot3_world</uri>
+    </include>
+
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>true</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose>0.8 0.0 12.0 0 1.5708 0</pose>
+        <view_controller>orbit</view_controller>
+      </camera>
+    </gui>
+  </world>
+</sdf>
--- a/scout_webots_sim/CMakeLists.txt
+++ b/scout_webots_sim/CMakeLists.txt
@@ -154,7 +154,7 @@ target_link_libraries(scout_webots_node ${catkin_LIBRARIES})
 ## Install ##
 #############

-roslaunch_add_file_check(launch)
+# roslaunch_add_file_check(launch)

 install(TARGETS scout_webots_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}