Add mesh, urdf and launch files

launch/description.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="name" default="dabo"/>
+  <arg name="model"     default="dabo"/>
+
+  <group ns="$(arg name)">
+    
+    <param name="robot_description"
+          command="$(find xacro)/xacro --inorder '$(find iri_dabo_description)/urdf/$(arg model).xacro' name:=$(arg name)" />
+
+    <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+      <param name="tf_prefix" type="string" value="/$(arg name)"/>
+      <param name="publish_frequency" type="double" value="20.0"/>
+    </node>
+
+    <!--
+    <node pkg="joint_state_publisher"
+          type="joint_state_publisher"
+          name="joint_state_publisher">
+      <param name="use_gui"           value="true"/>
+      <remap from="$(arg name)/joint_states" to="$(arg name)/joint_states/"/>
+      <remap from="$(arg name)/robot_description" to="$(arg name)/robot_description/"/>
+    </node>
+    -->
+
+  </group>
+  
+  <!--
+  <include file="$(find iri_segway_rmp200_description)/launch/wheel_static_transform.launch">
+    <arg name="name" value="$(arg name)"/>
+  </include>
+  -->
+  
+  <include file="$(find iri_segway_rmp200_description)/launch/caster_wheels_static_transform.launch">
+    <arg name="name" value="$(arg name)"/>
+  </include>
+
+</launch>
\ No newline at end of file

urdf/body.xacro

+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:macro name="body" params="name parent">
+
+    <link name="body">
+      <visual>
+        <origin xyz="0 0 -0.48" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://iri_dabo_description/meshes/body.dae"/>
+        </geometry>
+      </visual>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="1"/>
+        <inertia 
+          ixx="0.001" ixy="0.0" ixz="0.0" 
+          iyy="0.001" iyz="0.0" 
+          izz="0.001"/>
+      </inertial>
+    </link>
+
+    <joint name="${parent}2body_joint" type="fixed">
+      <parent link="${parent}"/>
+      <child link="body"/>
+      <origin rpy="0 0 0" xyz="0 0 0.0"/>
+      <axis xyz="0 0 1"/>
+    </joint>
+
+  </xacro:macro>
+
+</root>

urdf/dabo.xacro

+<?xml version="1.0"?>
+
+<robot name="dabo" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="name" default="dabo"/>
+
+  <xacro:include filename="$(find iri_segway_rmp200_description)/urdf/segway_rmp200.xacro" />
+  <xacro:segway_rmp200 name="$(arg name)" sim_config="$(find iri_dabo_gazebo)/config/dabo_sim_config.yaml"/>
+  
+  <xacro:include filename="$(find iri_segway_rmp200_description)/urdf/caster_support_wheels.xacro" />
+  <xacro:caster_support_wheels/>
+  
+  <xacro:include filename="$(find iri_dabo_description)/urdf/body.xacro" />
+  <xacro:body name="$(arg name)" parent="top_plate"/>
+  
+  <xacro:include filename="$(find iri_dabo_description)/urdf/sensors.xacro" />
+  <xacro:sensors name="$(arg name)" parent="base_link"/>
+
+</robot>
\ No newline at end of file

urdf/sensors.xacro

+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+  
+  <xacro:include filename="$(find iri_hokuyo_laser2d_description)/urdf/hokuyo_laser2d.xacro" />
+
+
+  <xacro:macro name="sensors" params="name parent">
+    
+    <xacro:property name="laser_config" value="$(find iri_dabo_gazebo)/config/hokuyo_utm30lx.yaml"/>
+
+    <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+      <origin xyz="0.28 0.0 0.15" rpy="0 0 0" />
+    </xacro:hokuyo_laser2d>
+    
+    <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="${parent}" mesh_resolution="low_res" model="utm30lx" config_file="${laser_config}">
+      <origin xyz="-0.28 0.0 0.15" rpy="0 0 3.14159" />
+    </xacro:hokuyo_laser2d>
+
+  </xacro:macro>
+
+</root>