diff --git a/urdf/loc_sign.xacro b/urdf/loc_sign.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..88e60b760591b5ca38770b398b430e668cbd595c
--- /dev/null
+++ b/urdf/loc_sign.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/signs/localization_sign_macro.xacro" />
+
+ <xacro:localization_sign name="$(arg name)"
+ tag_dae="$(arg tag)"
+ top_panel_dae="$(arg type)">
+ </xacro:localization_sign>
+
+</robot>
diff --git a/urdf/signs/dae/png/qr_loc1.png b/urdf/signs/dae/png/qr_loc1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f258b5118581026ff1ad4f016d2a178e1fb12152
Binary files /dev/null and b/urdf/signs/dae/png/qr_loc1.png differ
diff --git a/urdf/signs/dae/png/qr_loc88.png b/urdf/signs/dae/png/qr_loc88.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e4a268aac6478de2c40ff9983ddc3a472a6ca17
Binary files /dev/null and b/urdf/signs/dae/png/qr_loc88.png differ
diff --git a/urdf/signs/dae/png/world.png b/urdf/signs/dae/png/world.png
new file mode 100644
index 0000000000000000000000000000000000000000..673b6a3a73784a3ce1aa1b7773b5e81a321b8da2
Binary files /dev/null and b/urdf/signs/dae/png/world.png differ
diff --git a/urdf/signs/dae/qr_loc1.dae b/urdf/signs/dae/qr_loc1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..4f992c9ac178b7b4cb81c6bc0ed38ca3fe2255c8
--- /dev/null
+++ b/urdf/signs/dae/qr_loc1.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/qr_loc1.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
+ </float_array>
+ <technique_common>
+ <accessor source="#image-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-Normal0">
+ <float_array id="image-Normal0-array" count="18">
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
+ <accessor source="#image-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
+ 0 0
+ 1 0
+ 0 1
+ 1 1
+ </float_array>
+ <!--
+ 0.000499 0.000500
+ 0.999500 0.000499
+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+ <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/dae/qr_loc88.dae b/urdf/signs/dae/qr_loc88.dae
new file mode 100644
index 0000000000000000000000000000000000000000..89a0a284a76b77dafbe442ec99d199763a03c476
--- /dev/null
+++ b/urdf/signs/dae/qr_loc88.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/qr_loc88.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
+ </float_array>
+ <technique_common>
+ <accessor source="#image-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-Normal0">
+ <float_array id="image-Normal0-array" count="18">
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
+ <accessor source="#image-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
+ 0 0
+ 1 0
+ 0 1
+ 1 1
+ </float_array>
+ <!--
+ 0.000499 0.000500
+ 0.999500 0.000499
+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+ <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/dae/world.dae b/urdf/signs/dae/world.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b587aca17c4c9b3348dea56611b5f1d9eceef9e8
--- /dev/null
+++ b/urdf/signs/dae/world.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/world.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
+ </float_array>
+ <technique_common>
+ <accessor source="#image-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-Normal0">
+ <float_array id="image-Normal0-array" count="18">
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ 0 0 1
+ </float_array>
+ <technique_common>
+ <accessor source="#image-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
+ 0 0
+ 1 0
+ 0 1
+ 1 1
+ </float_array>
+ <!--
+ 0.000499 0.000500
+ 0.999500 0.000499
+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
+ <p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/localization_sign_macro.xacro b/urdf/signs/localization_sign_macro.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..082a586c3624f747465da363da7077caeff94c51
--- /dev/null
+++ b/urdf/signs/localization_sign_macro.xacro
@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/materials.xacro" />
+
+ <xacro:property name="PI" value="3.1415926535897931" />
+ <xacro:property name="box_width" value="0.12" />
+ <xacro:property name="box_depth" value="0.01" />
+ <xacro:property name="box_height" value="0.175" />
+ <xacro:property name="box_material" value="white" />
+ <xacro:property name="box_gazebo_material" value="Gazebo/White" />
+ <xacro:property name="tag_size" value="0.08" />
+ <xacro:property name="tag_z_offset" value="0.025" />
+ <xacro:property name="delta" value="0.0001" />
+ <xacro:property name="top_panel_width" value="0.05" />
+ <xacro:property name="top_panel_height" value="0.05" />
+ <xacro:property name="top_panel_z_offset" value="0.12" />
+
+ <xacro:macro name="localization_sign"
+ params="name:=loc_sign
+ tag_dae:=qr_loc1
+ top_panel_dae:=world
+ box_gazebo_material:=Gazebo/White">
+
+ <link name="${name}_base_link">
+ <visual>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ <collision>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_base_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_link">
+ <inertial>
+ <mass value="0.001"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+ </inertial>
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
+ <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_tag_link" />
+ </joint>
+
+ <gazebo reference="${name}_tag_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${tag_dae}.dae" scale="${tag_size} 1.0 ${tag_size}"/>
+ </geometry>
+ </visual>
+ </link>
+
+ <joint name="joint_${name}_tag_link_to_${name}_tag_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_tag_link"/>
+ <child link="${name}_tag_image" />
+ </joint>
+
+ <gazebo reference="${name}_tag_image">
+ </gazebo>
+
+ <link name="${name}_top_panel_link">
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_top_panel_link" type="fixed">
+ <origin xyz="${delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 0 0"/>
+ <parent link="${name}_base_link"/>
+ <child link="${name}_top_panel_link"/>
+ </joint>
+
+ <gazebo reference="${name}_top_panel_link">
+ </gazebo>
+
+ <link name="${name}_top_panel_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${top_panel_dae}.dae" scale="${top_panel_width} 1.0 ${top_panel_height}"/>
+ <!--<box size="${top_panel_width} ${delta} ${top_panel_height}"/>-->
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ </link>
+
+ <gazebo reference="${name}_top_panel_image">
+ </gazebo>
+
+ <joint name="joint_${name}_top_panel_link_to_${name}_top_panel_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_top_panel_link"/>
+ <child link="${name}_top_panel_image" />
+ </joint>
+
+ <gazebo>
+ <static>true</static>
+ </gazebo>
+
+ <!--
+ <gazebo>
+ <plugin name="${name}_ground_truth" filename="libgazebo_ros_p3d.so">
+ <frameName>map</frameName>
+ <bodyName>${name}_base_link</bodyName>
+ <topicName>${name}_odom_ground_truth</topicName>
+ <updateRate>5.0</updateRate>
+ </plugin>
+ </gazebo>
+ -->
+
+ </xacro:macro>
+
+</root>