Added an environment without obstacles.

bioloid_description/urdf/ceabot/obstacles_env_empty.xacro

+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ 
+  <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
+  <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle.xacro" />
+  <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+
+  <xacro:obstacle_base name="obstacle_base"/>
+  
+  <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25">
+    <origin xyz="0.016 0.265 0.375" rpy="0 0 -1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75">
+    <origin xyz="0.016 0.765 0.375" rpy="0 0 -1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125">
+    <origin xyz="0.016 1.265 0.375" rpy="0 0 -1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175">
+    <origin xyz="0.016 1.765 0.375" rpy="0 0 -1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225">
+    <origin xyz="0.016 2.265 0.375" rpy="0 0 -1.5707" />
+  </xacro:qrcode>
+
+  <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="W25">
+    <origin xyz="1.999 0.265 0.375" rpy="0 0 1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="W75">
+    <origin xyz="1.999 0.765 0.375" rpy="0 0 1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="W125">
+    <origin xyz="1.999 1.265 0.375" rpy="0 0 1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="W175">
+    <origin xyz="1.999 1.765 0.375" rpy="0 0 1.5707" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="W225">
+    <origin xyz="1.999 2.265 0.375" rpy="0 0 1.5707" />
+  </xacro:qrcode>
+
+  <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25">
+    <origin xyz="0.265 2.514 0.375" rpy="0 0 3.14159" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75">
+    <origin xyz="0.765 2.514 0.375" rpy="0 0 3.14159" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125">
+    <origin xyz="1.265 2.514 0.375" rpy="0 0 3.14159" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175">
+    <origin xyz="1.765 2.514 0.375" rpy="0 0 3.14159" />
+  </xacro:qrcode>
+
+  <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25">
+    <origin xyz="0.265 0.016 0.375" rpy="0 0 0" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75">
+    <origin xyz="0.765 0.016 0.375" rpy="0 0 0" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125">
+    <origin xyz="1.265 0.016 0.375" rpy="0 0 0" />
+  </xacro:qrcode>
+  <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175">
+    <origin xyz="1.765 0.016 0.375" rpy="0 0 0" />
+  </xacro:qrcode>
+</robot>