diff --git a/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml b/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml
new file mode 100644
index 0000000..6e90aae
--- /dev/null
+++ b/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml	
@@ -0,0 +1 @@
+controller_joint_names: ['', 'rightwheel', 'leftwheel', 'lidar', ]
diff --git a/Software Files/ROS Workspace/src/config/romr_navigation.rviz b/Software Files/ROS Workspace/src/config/romr_navigation.rviz
new file mode 100644
index 0000000..659366f
--- /dev/null
+++ b/Software Files/ROS Workspace/src/config/romr_navigation.rviz	
@@ -0,0 +1,417 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 747
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+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: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 40
+      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
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camerad435i_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camerat265_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        casterwheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leftwheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rightwheel_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
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camerad435i_link:
+          Value: true
+        camerat265_link:
+          Value: true
+        casterwheel_link:
+          Value: true
+        imu_link:
+          Value: true
+        leftwheel_link:
+          Value: true
+        lidar_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        rightwheel_link:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 0.5
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_link:
+              base_footprint:
+                {}
+              camerad435i_link:
+                {}
+              camerat265_link:
+                {}
+              casterwheel_link:
+                {}
+              imu_link:
+                {}
+              leftwheel_link:
+                {}
+              lidar_link:
+                {}
+              rightwheel_link:
+                {}
+      Update Interval: 0
+      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: 2
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.03999999910593033
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Arrow Length: 0.05000000074505806
+      Axes Length: 0.30000001192092896
+      Axes Radius: 0.009999999776482582
+      Class: rviz/PoseArray
+      Color: 31; 85; 76
+      Enabled: true
+      Head Length: 0.07000000029802322
+      Head Radius: 0.029999999329447746
+      Name: AMCL Particles
+      Queue Size: 10
+      Shaft Length: 0.23000000417232513
+      Shaft Radius: 0.009999999776482582
+      Shape: Arrow (Flat)
+      Topic: /particlecloud
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Axes Length: 1
+      Axes Radius: 0.10000000149011612
+      Class: rviz/Pose
+      Color: 255; 85; 0
+      Enabled: true
+      Head Length: 0.4000000059604645
+      Head Radius: 0.5
+      Name: Goal
+      Queue Size: 10
+      Shaft Length: 0.5
+      Shaft Radius: 0.20000000298023224
+      Shape: Arrow
+      Topic: /move_base/current_goal
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 0; 255
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Billboards
+      Line Width: 0.15000000596046448
+      Name: Planner Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/NavfnROS/plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/Polygon
+      Color: 255; 85; 0
+      Enabled: true
+      Name: Footprint
+      Queue Size: 10
+      Topic: /move_base/local_costmap/footprint
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Local Costmap
+      Topic: /move_base/local_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 0; 0; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Local Planner Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/DWAPlannerROS/local_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Global Costmap
+      Topic: /move_base/global_costmap/costmap
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz/Path
+      Color: 255; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Global Planner Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Queue Size: 10
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic: /move_base/DWAPlannerROS/global_plan
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/PointStamped
+      Color: 204; 41; 204
+      Enabled: true
+      History Length: 1
+      Name: PointStamped
+      Queue Size: 10
+      Radius: 0.20000000298023224
+      Topic: /clicked_point
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    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
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 22.512256622314453
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 1.7694363594055176
+        Y: -13.823583602905273
+        Z: -1.430511474609375e-06
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5147963762283325
+      Target Frame: <Fixed Frame>
+      Yaw: 4.70358943939209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1044
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019600000374fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000374000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000374fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000374000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000044fc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004cf0000037400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0
diff --git a/Software Files/ROS Workspace/src/config/rviz_config.rviz b/Software Files/ROS Workspace/src/config/rviz_config.rviz
new file mode 100644
index 0000000..18b8ff9
--- /dev/null
+++ b/Software Files/ROS Workspace/src/config/rviz_config.rviz	
@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 753
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Preferences:
+  PromptSaveOnExit: true
+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: 0.029999999329447746
+        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
+      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
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      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_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camerad435i_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camerat265_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        casterwheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        leftwheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rightwheel_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
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    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
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - 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: 6.662227630615234
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 12.082286834716797
+        Y: -9.459827423095703
+        Z: 3.169853448867798
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.10539796203374863
+      Target Frame: <Fixed Frame>
+      Yaw: 0.9303956627845764
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1044
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000037a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000037a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0
diff --git a/Software Files/ROS Workspace/src/gazebo/romr.trans b/Software Files/ROS Workspace/src/gazebo/romr.trans
new file mode 100644
index 0000000..48260ca
--- /dev/null
+++ b/Software Files/ROS Workspace/src/gazebo/romr.trans	
@@ -0,0 +1,27 @@
+<?xml version="1.0" ?>
+<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<!-- ****************** romr base transmission*******************  -->
+<transmission name="rightwheel_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="rightwheel_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="rightwheel_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+<transmission name="leftwheel_joint_tran">
+  <type>transmission_interface/SimpleTransmission</type>
+  <joint name="leftwheel_joint">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+  </joint>
+  <actuator name="leftwheel_joint_actr">
+    <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    <mechanicalReduction>1</mechanicalReduction>
+  </actuator>
+</transmission>
+
+</robot>
diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo
new file mode 100644
index 0000000..f0095df
--- /dev/null
+++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo	
@@ -0,0 +1,40 @@
+<?xml version="1.0" ?>
+<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<xacro:property name="base_link_color" value="Gazebo/White" />
+<xacro:property name="camerad435i_link_color" value="Gazebo/White" />
+<xacro:property name="camerat265_link_color" value="Gazebo/White" />
+<xacro:property name="lidar_color" value="Gazebo/LightBlueLaser" />
+<xacro:property name="imu_link_color" value="Gazebo/Black" />
+<xacro:property name="wheels_link_color" value="Gazebo/Black" />
+<xacro:property name="casterwheel_link_color" value="Gazebo/Blue" />
+
+<gazebo reference="base_link">
+  <material>${base_link_color}</material>
+</gazebo>
+
+<gazebo reference="camerad435i_link">
+  <material>${camerad435i_link_color}</material>
+</gazebo>
+
+<gazebo reference="imu_link">
+  <material>${imu_link_color}</material>
+</gazebo>
+
+<gazebo reference="rightwheel_link">
+  <material>${wheels_link_color}</material>
+</gazebo>
+
+<gazebo reference="leftwheel_link">
+  <material>${wheels_link_color}</material>
+</gazebo>
+
+<gazebo reference="casterwheel_link">
+  <material>${casterwheel_link_color}</material>
+</gazebo>
+
+<gazebo reference="lidar_link">
+  <material>${lidar_color}</material>
+</gazebo>
+
+</robot>
diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo
new file mode 100644
index 0000000..3177d5e
--- /dev/null
+++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo	
@@ -0,0 +1,58 @@
+<?xml version="1.0" ?>
+<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<xacro:property name="standard_friction" value="1.0" />
+<xacro:property name="caster_friction" value="0.01" />
+<xacro:property name="wheels_friction" value="1000.0" />
+
+<gazebo reference="base_link">
+  <mu1>${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>
diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo
new file mode 100644
index 0000000..4c82a4c
--- /dev/null
+++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo	
@@ -0,0 +1,136 @@
+<?xml version="1.0" ?>
+<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+<!-- *********** ROMR ROS Control ***************** -->
+
+<gazebo>
+  <plugin filename="libgazebo_ros_control.so" name="control"/>
+</gazebo>
+
+<!-- ************ ROMR differential drive plugin ************* -->
+
+<gazebo>
+  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+    <updateRate>20</updateRate>
+    <leftJoint>leftwheel_joint</leftJoint>
+    <rightJoint>rightwheel_joint</rightJoint>
+    <wheelSeparation>0.30</wheelSeparation>
+    <wheelDiameter>0.1610</wheelDiameter>
+    <wheelAcceleration>1.0</wheelAcceleration>
+    <wheelTorque>20</wheelTorque>
+    <commandTopic>cmd_vel</commandTopic>
+    <odometryTopic>odom</odometryTopic>
+    <odometryFrame>odom</odometryFrame>
+    <robotBaseFrame>base_link</robotBaseFrame>
+    <odometrySource>1</odometrySource>
+    <publishWheelTF>false</publishWheelTF>
+    <publishOdom>true</publishOdom>
+    <publishTf>1</publishTf>
+   <publishOdomTF>true</publishOdomTF>
+    <publishWheelJointState>true</publishWheelJointState>
+    <legacyMode>false</legacyMode>
+     <alwaysOn>true</alwaysOn>
+    <odometrySource>world</odometrySource> 
+    <rosDebugLevel>Debug</rosDebugLevel>
+  </plugin>
+</gazebo>
+
+<!-- ***********  ROMR lidar sensor plugin ************* -->
+
+ <gazebo reference="lidar_link">
+    <sensor type="ray" name="rplidar_a2"> 
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>true</visualize>
+      <update_rate>10</update_rate>
+      <ray>
+        <scan>
+          <horizontal>  
+            <samples>720</samples>
+            <resolution>1</resolution>
+            <min_angle>-2.98451</min_angle> 
+            <max_angle>2.98451</max_angle>  
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.15</min>
+          <max>16.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <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>lidar_link</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+<!-- ************* IMU sensor plugin ***************** -->
+
+<gazebo reference="imu_link">
+    <gravity>true</gravity>
+    <sensor name="imu_sensor" type="imu">
+      <always_on>true</always_on>
+      <update_rate>10</update_rate>
+      <visualize>true</visualize>
+      <topic>__default_topic__</topic>
+      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+        <topicName>imu</topicName>
+        <bodyName>imu_link</bodyName>
+        <updateRateHZ>10.0</updateRateHZ>
+        <gaussianNoise>0.0</gaussianNoise>
+        <xyzOffset>0 0 0</xyzOffset>
+        <rpyOffset>0 0 0</rpyOffset>
+        <frameName>imu_link</frameName>
+        <initialOrientationAsReference>false</initialOrientationAsReference>
+      </plugin>
+      <pose>0 0 0 0 0 0</pose>
+    </sensor>
+  </gazebo>
+
+<!-- ********************* Camera sensor plugin ******************* -->
+
+<gazebo reference="camerad435i_link">
+  <sensor type="camera" name="camera1">
+    <update_rate>30.0</update_rate>
+    <camera name="head">
+      <horizontal_fov>1.3962634</horizontal_fov>
+      <image>
+        <width>640</width>
+        <height>320</height>
+        <format>R8G8B8</format>
+      </image>
+      <clip>
+        <near>0.02</near>
+        <far>300</far>
+      </clip>
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.007</stddev>
+    </noise>
+    </camera>
+    <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>0.0</updateRate>
+      <cameraName>romr/camera</cameraName>
+      <imageTopicName>image_raw</imageTopicName>
+      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+      <frameName>camera_link</frameName>
+      <hackBaseline>0.07</hackBaseline>
+      <distortionK1>0.0</distortionK1>
+      <distortionK2>0.0</distortionK2>
+      <distortionK3>0.0</distortionK3>
+      <distortionT1>0.0</distortionT1>
+      <distortionT2>0.0</distortionT2>
+    </plugin>
+  </sensor>
+</gazebo>
+
+</robot>
+
+