<?xml version="1.0"?>

<robot name="scout_v2" 
    xmlns:xacro="http://ros.org/wiki/xacro">

    <xacro:include filename="$(find scout_base)/description/scout_v2.xacro" />

    <!-- For testing, hang the robot up in the air -->
    <!-- <link name="world" />
    <joint name="world_to_base_link=" type="fixed">
        <origin xyz="0 0 0.5" rpy="0 0 0" />
        <parent link="world"/>
        <child link="base_link"/>
    </joint> -->

    <link name="imu_link">
        <visual>
            <origin xyz="0.0 0.0 0.0" />
            <geometry>
                <cylinder length="0.03" radius="0.02" />
            </geometry>
            <material name="red" />
        </visual>
    </link>

    <joint name="imu_joint" type="fixed">
        <parent link="base_link" />
        <child link="imu_link" />
        <origin xyz="0.32 0.0 0.18" rpy="0 0 0" />
    </joint>

    <link name="laser">
        <visual>
            <origin xyz="0.0 0.0 0.0" />
            <geometry>
                <cylinder length="0.03" radius="0.02" />
            </geometry>
            <material name="red" />
        </visual>
    </link>

    <joint name="base_laser_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser" />
        <origin xyz="0.0 0.0 0.65" rpy="0 0 0" />
    </joint>
    
</robot>
