diff --git a/setup.py b/setup.py
index 9b56008..d2c1b7a 100644
--- a/setup.py
+++ b/setup.py
@@ -1,15 +1,18 @@
+import os
+from glob import glob
from setuptools import setup
package_name = 'bot_mini_description'
setup(
name=package_name,
- version='0.0.0',
+ version='0.0.1',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name), glob('urdf/*.xacro')),
],
install_requires=['setuptools'],
zip_safe=True,
diff --git a/urdf/diffbot.materials.xacro b/urdf/diffbot.materials.xacro
new file mode 100644
index 0000000..035bf58
--- /dev/null
+++ b/urdf/diffbot.materials.xacro
@@ -0,0 +1,40 @@
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diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
new file mode 100644
index 0000000..8a8dcfd
--- /dev/null
+++ b/urdf/diffbot_description.urdf.xacro
@@ -0,0 +1,184 @@
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diff --git a/urdf/odrive.ros2_control.xacro b/urdf/odrive.ros2_control.xacro
new file mode 100644
index 0000000..e3007e3
--- /dev/null
+++ b/urdf/odrive.ros2_control.xacro
@@ -0,0 +1,37 @@
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+ odrive_hardware_interface/ODriveHardwareInterface
+
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+ ${serial_number}
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+ ${serial_number}
+ 0
+ 1
+ 0.1
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+ ${serial_number}
+ 1
+ 1
+ 0.1
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diff --git a/urdf/odrive.urdf.xacro b/urdf/odrive.urdf.xacro
new file mode 100644
index 0000000..c5a3cca
--- /dev/null
+++ b/urdf/odrive.urdf.xacro
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diff --git a/urdf/odrive_diffbot.urdf.xacro b/urdf/odrive_diffbot.urdf.xacro
new file mode 100644
index 0000000..551c8f7
--- /dev/null
+++ b/urdf/odrive_diffbot.urdf.xacro
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diff --git a/urdf/odrive_rrbot.urdf.xacro b/urdf/odrive_rrbot.urdf.xacro
new file mode 100644
index 0000000..e22fbd7
--- /dev/null
+++ b/urdf/odrive_rrbot.urdf.xacro
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