<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >

<xacro:property name="standard_friction" value="1.0" />
<xacro:property name="caster_friction" value="0.01" />
<xacro:property name="wheels_friction" value="1000.0" />

<gazebo reference="base_link">
  <mu1>${standard_friction}</mu1>
  <mu2>${standard_friction}</mu2>
  <selfCollide>true</selfCollide>
  <gravity>true</gravity>
</gazebo>

<gazebo reference="rightwheel_link">
  <mu1>${wheels_friction}</mu1>
  <mu2>${wheels_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="leftwheel_link">
  <mu1>${wheels_friction}</mu1>
  <mu2>${wheels_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="casterwheel_link">
  <mu1>${caster_friction}</mu1>
  <mu2>${caster_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="lidar_link">
  <mu1>${standard_friction}</mu1>
  <mu2>${standard_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="camerad435i_link">
  <mu1>${standard_friction}</mu1>
  <mu2>${standard_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

<gazebo reference="camerat265_link">
  <mu1>${standard_friction}</mu1>
  <mu2>${standard_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>


<gazebo reference="imu_link">
  <mu1>${standard_friction}</mu1>
  <mu2>${standard_friction}</mu2>
  <selfCollide>true</selfCollide>
</gazebo>

</robot>
