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  1. <?xml version="1.0"?>
  2.  
  3.  
  4. <robot name="moon" xmlns:xacro="https://www.ros.org/wiki/xacro" >
  5.  
  6.  
  7. <xacro:property name="namespace" value="rmoon"/>
  8.  
  9.  
  10. <link name="rmid">
  11. <inertial>
  12. <mass value="28" />
  13.  
  14. <origin xyz="0 0 0" />
  15.  
  16. <inertia ixx="0.23768117187" ixy="-0.11662223437" ixz="-0.00455892187
  17. " iyy="0.22683235937" iyz="0.00430353125" izz="0.42137089062" />
  18. </inertial>
  19.  
  20. <visual>
  21. <origin xyz="0 0 0" rpy="0 0 0" />
  22. <geometry>
  23. <mesh filename="package://moon/src/meshes/tmid.stl" />
  24. </geometry>
  25. <material name="DarkGray" />
  26. </visual>
  27.  
  28. <collision>
  29. <origin xyz="0 0 0" rpy="0 0 0" />
  30. <geometry>
  31. <mesh filename="package://moon/src/meshes/tmid.stl" />
  32. </geometry>
  33. </collision>
  34. </link>
  35. <gazebo reference="rmid">
  36.  
  37. <turnGravityOff>false</turnGravityOff>
  38.  
  39. <kp>1000000.0</kp>
  40. <kd>1.0</kd>
  41. <mu1>0.8</mu1>
  42. <mu2>0.8</mu2>
  43. <maxVel>0.0</maxVel>
  44. <minDepth>0.001</minDepth>
  45. </gazebo>
  46. <link name="lmid">
  47. <inertial>
  48. <mass value="28" />
  49.  
  50. <origin xyz="0 0 0" />
  51.  
  52. <inertia ixx="0.23768117187" ixy="-0.11662223437" ixz="-0.00455892187
  53. " iyy="0.22683235937" iyz="0.00430353125" izz="0.42137089062"/>
  54. </inertial>
  55.  
  56. <visual>
  57. <origin xyz="0 0 0" rpy="0 0 0" />
  58. <geometry>
  59. <mesh filename="package://moon/src/meshes/rtmid.stl" />
  60. </geometry>
  61. <material name="DarkGray" />
  62. </visual>
  63.  
  64. <collision>
  65. <origin xyz="0 0 0" rpy="0 0 0" />
  66. <geometry>
  67. <mesh filename="package://moon/src/meshes/rtmid.stl" />
  68. </geometry>
  69. </collision>
  70. </link>
  71. <gazebo reference="lmid">
  72.  
  73. <turnGravityOff>false</turnGravityOff>
  74.  
  75. <kp>1000000.0</kp>
  76. <kd>1.0</kd>
  77. <mu1>0.8</mu1>
  78. <mu2>0.8</mu2>
  79. <maxVel>0.0</maxVel>
  80. <minDepth>0.001</minDepth>
  81. </gazebo>
  82. <joint name="LefttoRight" type="revolute">
  83. <origin rpy="0 0 0" xyz="0 0 0"/>
  84. <child link="rmid" />
  85. <parent link="lmid"/>
  86. <axis rpy="0 0 0" xyz="0 1 0 "/>
  87. <limit effort="1110" velocity="10" lower="-1.57079632679" upper="1.57079632679"/>
  88. <joint_properties damping="1" friction="1" />
  89. </joint>
  90.  
  91. <link name="turn_f">
  92. <inertial>
  93. <mass value="1" />
  94.  
  95. <origin xyz="0 0 0" />
  96.  
  97. <inertia ixx="1" ixy="0.0" ixz="0.0"
  98. iyy="1" iyz="0.0"
  99. izz="1" />
  100. </inertial>
  101.  
  102.  
  103. </link>
  104. <gazebo reference="turn_f">
  105.  
  106. <turnGravityOff>false</turnGravityOff>
  107.  
  108. <kp>1000000.0</kp>
  109. <kd>1.0</kd>
  110. <mu1>2</mu1>
  111. <mu2>0.8</mu2>
  112. <maxVel>0.0</maxVel>
  113. <minDepth>0.001</minDepth>
  114. </gazebo>
  115. <link name="turn_aft">
  116. <inertial>
  117. <mass value="1" />
  118.  
  119. <origin xyz="0 0 0" />
  120.  
  121. <inertia ixx="1" ixy="0.0" ixz="0.0"
  122. iyy="1" iyz="0.0"
  123. izz="1" />
  124. </inertial>
  125.  
  126.  
  127. </link>
  128. <gazebo reference="turn_aft">
  129.  
  130. <turnGravityOff>false</turnGravityOff>
  131.  
  132. <kp>1000000.0</kp>
  133. <kd>1.0</kd>
  134. <mu1>2</mu1>
  135. <mu2>0.8</mu2>
  136. <maxVel>0.0</maxVel>
  137. <minDepth>0.001</minDepth>
  138. </gazebo>
  139. <joint name="turning_f" type="revolute">
  140. <origin rpy="0 0 0" xyz="0 0 0"/>
  141. <child link="forebody" />
  142. <parent link="turn_f"/>
  143. <axis rpy="0 0 0" xyz="1 0 0 "/>
  144. <limit effort="500" velocity="10" lower="-1.57079632679" upper="1.57079632679"/>
  145. <joint_properties damping="10" friction="10" />
  146. </joint>
  147. <joint name="turning_aft" type="revolute">
  148. <origin rpy="0 0 0" xyz="0 0 0"/>
  149. <child link="aftbody" />
  150. <parent link="turn_aft"/>
  151. <axis rpy="0 0 0" xyz="1 0 0 "/>
  152. <limit effort="500" velocity="10" lower="-1.57079632679" upper="1.57079632679"/>
  153. <joint_properties damping="10" friction="10" />
  154. </joint>
  155. <link name="forebody">
  156. <inertial>
  157. <mass value="50" />
  158.  
  159. <origin xyz="0 0 0" />
  160.  
  161. <inertia ixx="2.50531372" ixy="0" ixz="0" iyy="3.13793579" iyz="0" izz="5.269990235"/>
  162. </inertial>
  163.  
  164. <visual>
  165. <origin xyz="0 0 0" rpy="0 0 0" />
  166. <geometry>
  167. <mesh filename="package://moon/src/meshes/tbod.stl" />
  168. </geometry>
  169. <material name="DarkGray" />
  170. </visual>
  171.  
  172.  
  173. <collision>
  174. <origin xyz="0 0 0" rpy="0 0 0" />
  175. <geometry>
  176. <mesh filename="package://moon/src/meshes/tbod.stl" />
  177. </geometry>
  178. </collision>
  179. </link>
  180. <gazebo reference="forebody">
  181.  
  182. <turnGravityOff>false</turnGravityOff>
  183.  
  184. <kp>1000000.0</kp>
  185. <kd>1.0</kd>
  186. <mu1>0.8</mu1>
  187. <mu2>0.8</mu2>
  188. <maxVel>0.0</maxVel>
  189. <minDepth>0.001</minDepth>
  190. </gazebo>
  191. <joint name="fore" type="prismatic">
  192. <origin rpy="0 0 0" xyz="0.600000 0 0.02"/>
  193. <child link="turn_f" />
  194. <parent link="rmid"/>
  195. <axis rpy="0 0 0" xyz="1 0 0"/>
  196. <limit effort="20000" velocity="10" lower="0" upper="0.28"/>
  197. <joint_properties damping="1" friction="1" />
  198. </joint>
  199.  
  200. <link name="aftbody">
  201. <inertial>
  202. <mass value="50" />
  203.  
  204. <origin xyz="0 0 0" />
  205.  
  206. <inertia ixx="2.50531372" ixy="0" ixz="0" iyy="3.13793579" iyz="0" izz="5.269990235" />
  207. </inertial>
  208.  
  209. <visual>
  210. <origin xyz="0 0 0" rpy="0 0 0" />
  211. <geometry>
  212. <mesh filename="package://moon/src/meshes/rtbod.stl" />
  213. </geometry>
  214. <material name="DarkGray" />
  215. </visual>
  216.  
  217.  
  218. <collision>
  219. <origin xyz="0 0 0" rpy="0 0 0" />
  220. <geometry>
  221. <mesh filename="package://moon/src/meshes/rtbod.stl" />
  222. </geometry>
  223. </collision>
  224. </link>
  225. <gazebo reference="aftbody">
  226.  
  227. <turnGravityOff>false</turnGravityOff>
  228.  
  229. <kp>1000000.0</kp>
  230. <kd>1.0</kd>
  231. <mu1>0.8</mu1>
  232. <mu2>0.8</mu2>
  233. <maxVel>0.0</maxVel>
  234. <minDepth>0.001</minDepth>
  235. </gazebo>
  236. <joint name="aft" type="prismatic">
  237. <origin rpy="0 0 0" xyz="-0.600000 0 0.02"/>
  238. <child link="turn_aft" />
  239. <parent link="lmid"/>
  240. <axis rpy="0 0 0" xyz="1 0 0"/>
  241. <limit effort="20000" velocity="10" lower="-0.28" upper="0"/>
  242. <joint_properties damping="1" friction="1" />
  243. </joint>
  244.  
  245. <link name="foreRightTire">
  246. <inertial>
  247. <mass value="8" />
  248.  
  249. <origin xyz="0 0 0" />
  250.  
  251. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  252. </inertial>
  253.  
  254. <visual>
  255. <origin xyz="0 0 0" rpy="0 0 0" />
  256. <geometry>
  257. <mesh filename="package://moon/src/meshes/tire.stl" />
  258. </geometry>
  259. <material name="DarkGray" />
  260. </visual>
  261.  
  262. <collision>
  263. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  264. <geometry>
  265. <cylinder length="0.2" radius="0.3" />
  266. </geometry>
  267. </collision>
  268. </link>
  269. <joint name="foreRightTire_j" type="continuous">
  270. <origin rpy="0 0 -1.57079632679" xyz="0.15 0.5 -0.025"/>
  271. <child link="foreRightTire" />
  272. <parent link="forebody"/>
  273.  
  274. <axis rpy="0 0 0" xyz="1 0 0 "/>
  275. <limit effort="1000" velocity="100" />
  276. <joint_properties damping="1" friction="1" />
  277. </joint>
  278. <gazebo reference="foreRightTire_j">
  279. <implicitSpringDamper>true</implicitSpringDamper>
  280. </gazebo>
  281. <gazebo reference="foreRightTire">
  282. <material>Gazebo/FlatBlack</material>
  283. <turnGravityOff>false</turnGravityOff>
  284.  
  285. <kp>1000000.0</kp>
  286. <kd>1.0</kd>
  287. <mu1>0.8</mu1>
  288. <mu2>0.8</mu2>
  289. <maxVel>0.0</maxVel>
  290. <minDepth>0.001</minDepth>
  291. </gazebo>
  292. <link name="foreLeftTire">
  293. <inertial>
  294. <mass value="8" />
  295.  
  296. <origin xyz="0 0 0" />
  297.  
  298. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  299. </inertial>
  300.  
  301. <visual>
  302. <origin xyz="0 0 0" rpy="0 0 0" />
  303. <geometry>
  304. <mesh filename="package://moon/src/meshes/tire.stl" />
  305. </geometry>
  306. <material name="DarkGray" />
  307. </visual>
  308.  
  309. <collision>
  310. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  311. <geometry>
  312. <cylinder length="0.2" radius="0.3" />
  313. </geometry>
  314. </collision>
  315. </link>
  316. <gazebo reference="foreLeftTire">
  317. <material>Gazebo/FlatBlack</material>
  318. <turnGravityOff>false</turnGravityOff>
  319.  
  320. <kp>1000000.0</kp>
  321. <kd>1.0</kd>
  322. <mu1>0.8</mu1>
  323. <mu2>0.8</mu2>
  324. <maxVel>0.0</maxVel>
  325. <minDepth>0.001</minDepth>
  326. </gazebo>
  327. <joint name="foreLeftTire_j" type="continuous">
  328. <origin rpy="0 0 1.57079632679" xyz="0.15 -0.5 -0.025"/>
  329. <child link="foreLeftTire" />
  330. <parent link="forebody"/>
  331. <axis rpy="0 0 0" xyz="1 0 0 "/>
  332. <limit effort="1000" velocity="100" />
  333. <joint_properties damping="1" friction="1" />
  334. </joint>
  335. <gazebo reference="foreLeftTire_j">
  336. <implicitSpringDamper>true</implicitSpringDamper>
  337. </gazebo>
  338. <link name="aftRightTire">
  339. <inertial>
  340. <mass value="8" />
  341.  
  342. <origin xyz="0 0 0" />
  343.  
  344. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  345. </inertial>
  346.  
  347. <visual>
  348. <origin xyz="0 0 0" rpy="0 0 0" />
  349. <geometry>
  350. <mesh filename="package://moon/src/meshes/tire.stl" />
  351. </geometry>
  352. <material name="DarkGray" />
  353. </visual>
  354.  
  355. <collision>
  356. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  357. <geometry>
  358. <cylinder length="0.2" radius="0.3" />
  359. </geometry>
  360. </collision>
  361. </link>
  362. <gazebo reference="aftRightTire">
  363. <material>Gazebo/FlatBlack</material>
  364. <turnGravityOff>false</turnGravityOff>
  365.  
  366. <kp>1000000.0</kp>
  367. <kd>1.0</kd>
  368. <mu1>0.8</mu1>
  369. <mu2>0.8</mu2>
  370. <maxVel>0.0</maxVel>
  371. <minDepth>0.001</minDepth>
  372. </gazebo>
  373. <joint name="aftRightTire_j" type="continuous">
  374. <origin rpy="0 0 -1.57079632679" xyz="-0.15 0.5 -0.025"/>
  375. <child link="aftRightTire" />
  376. <parent link="aftbody"/>
  377. <axis rpy="0 0 0" xyz="1 0 0 "/>
  378. <limit effort="1000" velocity="100" />
  379. <joint_properties damping="1" friction="1" />
  380. </joint>
  381. <gazebo reference="aftRightTire_j">
  382. <implicitSpringDamper>true</implicitSpringDamper>
  383. </gazebo>
  384. <link name="aftLeftTire">
  385. <inertial>
  386. <mass value="8" />
  387.  
  388. <origin xyz="0 0 0" />
  389.  
  390. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  391. </inertial>
  392.  
  393. <visual>
  394. <origin xyz="0 0 0" rpy="0 0 0" />
  395. <geometry>
  396. <mesh filename="package://moon/src/meshes/tire.stl" />
  397. </geometry>
  398. <material name="DarkGray" />
  399. </visual>
  400.  
  401. <collision>
  402. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  403. <geometry>
  404. <cylinder length="0.2" radius="0.3" />
  405. </geometry>
  406. </collision>
  407. </link>
  408. <gazebo reference="aftLeftTire">
  409.  
  410. <material>Gazebo/FlatBlack</material>
  411. <turnGravityOff>false</turnGravityOff>
  412.  
  413. <kp>1000000.0</kp>
  414. <kd>1.0</kd>
  415. <mu1>0.8</mu1>
  416. <mu2>0.8</mu2>
  417. <maxVel>0.0</maxVel>
  418. <minDepth>0.001</minDepth>
  419. </gazebo>
  420. <joint name="aftLeftTire_j" type="continuous">
  421. <origin rpy="0 0 1.57079632679" xyz="-0.15 -0.5 -0.025"/>
  422. <child link="aftLeftTire" />
  423. <parent link="aftbody"/>
  424. <axis rpy="0 0 0" xyz="1 0 0 "/>
  425. <limit effort="1000" velocity="100" />
  426. <joint_properties damping="1" friction="1" />
  427. </joint>
  428. <gazebo reference="aftLeftTire_j">
  429. <implicitSpringDamper>true</implicitSpringDamper>
  430. </gazebo>
  431. <link name="midLeftTire">
  432. <inertial>
  433. <mass value="8" />
  434.  
  435. <origin xyz="0 0 0" />
  436.  
  437. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  438. </inertial>
  439.  
  440. <visual>
  441. <origin xyz="0 0 0" rpy="0 0 0" />
  442. <geometry>
  443. <mesh filename="package://moon/src/meshes/tire.stl" />
  444. </geometry>
  445. <material name="DarkGray" />
  446. </visual>
  447.  
  448. <collision>
  449. <origin xyz="0 0 0" rpy="0 1.57079632679 0" />
  450. <geometry>
  451. <cylinder length="0.2" radius="0.3" />
  452. </geometry>
  453. </collision>
  454. </link>
  455. <gazebo reference="midLeftTire">
  456. <material>Gazebo/FlatBlack</material>
  457. <turnGravityOff>false</turnGravityOff>
  458.  
  459. <kp>1000000.0</kp>
  460. <kd>1.0</kd>
  461. <mu1>0.8</mu1>
  462. <mu2>0.8</mu2>
  463. <maxVel>0.0</maxVel>
  464. <minDepth>0.001</minDepth>
  465. </gazebo>
  466. <joint name="midLeftTire_j" type="continuous">
  467. <origin rpy="0 0 1.57079632679" xyz="0 -0.5 0.005"/>
  468. <child link="midLeftTire" />
  469. <parent link="lmid"/>
  470. <axis rpy="0 0 0" xyz="1 0 0 "/>
  471. <limit effort="1000" velocity="100" />
  472. <joint_properties damping="1" friction="1" />
  473. </joint>
  474. <gazebo reference="midLeftTire_j">
  475. <implicitSpringDamper>true</implicitSpringDamper>
  476. </gazebo>
  477. <link name="midRightTire">
  478. <inertial>
  479. <mass value="8" />
  480.  
  481. <origin xyz="0 0 0" />
  482.  
  483. <inertia ixx="0.2538" ixy="0" ixz="0" iyy="0.1479" iyz="0" izz="0.1480" />
  484. </inertial>
  485.  
  486. <visual>
  487. <origin xyz="0 0 0" rpy="0 0 0" />
  488. <geometry>
  489. <mesh filename="package://moon/src/meshes/tire.stl" />
  490. </geometry>
  491. <material name="DarkGray" />
  492. </visual>
  493.  
  494. <collision>
  495. <origin xyz="0 0 0 " rpy="0 1.57079632679 0" />
  496. <geometry>
  497. <cylinder length="0.2" radius="0.3" />
  498. </geometry>
  499. </collision>
  500. </link>
  501. <gazebo reference="midRightTire">
  502.  
  503. <material>Gazebo/FlatBlack</material>
  504. <turnGravityOff>false</turnGravityOff>
  505.  
  506. <kp>1000000.0</kp>
  507. <kd>1.0</kd>
  508. <mu1>0.8</mu1>
  509. <mu2>0.8</mu2>
  510. <maxVel>0.0</maxVel>
  511. <minDepth>0.001</minDepth>
  512. </gazebo>
  513.  
  514.  
  515. <joint name="midRightTire_j" type="continuous">
  516. <origin rpy="0 0 -1.57079632679" xyz="0 0.5 0.005"/>
  517. <child link="midRightTire" />
  518. <parent link="rmid"/>
  519. <axis rpy="0 0 0" xyz="1 0 0 "/>
  520. <limit effort="1000" velocity="100" />
  521. <joint_properties damping="1" friction="1" />
  522. </joint>
  523. <gazebo reference="midRightTire_j">
  524. <implicitSpringDamper>true</implicitSpringDamper>
  525. </gazebo>
  526.  
  527.  
  528. <transmission name="midle">
  529. <type>transmission_interface/SimpleTransmission</type>
  530. <joint name="LefttoRight">
  531. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  532. </joint>
  533. <actuator name="midlemotor">
  534. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  535. <mechanicalReduction>1</mechanicalReduction>
  536. </actuator>
  537. </transmission>
  538. <transmission name="fore_tran">
  539. <type>transmission_interface/SimpleTransmission</type>
  540. <joint name="fore">
  541. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  542. </joint>
  543. <actuator name="fore_motor">
  544. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  545. <mechanicalReduction>1</mechanicalReduction>
  546. </actuator>
  547. </transmission>
  548. <transmission name="aft_tran">
  549. <type>transmission_interface/SimpleTransmission</type>
  550. <joint name="aft">
  551. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  552. </joint>
  553. <actuator name="aft_motor">
  554. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  555. <mechanicalReduction>1</mechanicalReduction>
  556. </actuator>
  557. </transmission>
  558. <transmission name="transmission_aftRightWheel">
  559. <type>transmission_interface/SimpleTransmission</type>
  560. <joint name="aftRightTire_j">
  561. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  562. </joint>
  563. <actuator name="motor_aftRightWheel">
  564. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  565. <mechanicalReduction>1</mechanicalReduction>
  566. </actuator>
  567. </transmission>
  568. <transmission name="transmission_aftLeftWheel">
  569. <type>transmission_interface/SimpleTransmission</type>
  570. <joint name="aftLeftTire_j">
  571. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  572. </joint>
  573. <actuator name="motor_aftLeftWheel">
  574. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  575. <mechanicalReduction>1</mechanicalReduction>
  576. </actuator>
  577. </transmission>
  578. <transmission name="transmission_midLeftWheel">
  579. <type>transmission_interface/SimpleTransmission</type>
  580. <joint name="midLeftTire_j">
  581. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  582. </joint>
  583. <actuator name="motor_midLeftWheel">
  584. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  585. <mechanicalReduction>1</mechanicalReduction>
  586. </actuator>
  587. </transmission>
  588. <transmission name="transmission_midRightWheel">
  589. <type>transmission_interface/SimpleTransmission</type>
  590. <joint name="midRightTire_j">
  591. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  592. </joint>
  593. <actuator name="motor_midRightWheel">
  594. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  595. <mechanicalReduction>1</mechanicalReduction>
  596. </actuator>
  597. </transmission>
  598. <transmission name="transmission_foreRightWheel">
  599. <type>transmission_interface/SimpleTransmission</type>
  600. <joint name="foreRightTire_j">
  601. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  602. </joint>
  603. <actuator name="motor_foreRightWheel">
  604. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  605. <mechanicalReduction>1</mechanicalReduction>
  606. </actuator>
  607. </transmission>
  608. <transmission name="transmission_foreLeftWheel">
  609. <type>transmission_interface/SimpleTransmission</type>
  610. <joint name="foreLeftTire_j">
  611. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  612. </joint>
  613. <actuator name="motor_foreLeftWheel">
  614. <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  615. <mechanicalReduction>1</mechanicalReduction>
  616. </actuator>
  617. </transmission>
  618.  
  619.  
  620. <gazebo>
  621. <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  622. <robotNamespace>/moon</robotNamespace>
  623. </plugin>
  624. </gazebo>
  625. </robot>
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