<commit_before><?xml version="1.0"?>
<robot name="roomba" xmlns:xacro="http://ros.org/wiki/xacro">

<!-- Gazebo7 diff_drive plugin used for teleop! -->
<gazebo>
  <plugin name="create_controller" filename="libgazebo_ros_diff_drive.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>40</updateRate>
      <leftJoint>left_wheel_joint</leftJoint>
      <rightJoint>right_wheel_joint</rightJoint>
      <wheelSeparation>0.22</wheelSeparation> <!-- wheel seperation values measured by myself -->
      <wheelDiameter>0.066</wheelDiameter>
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
     <robotBaseFrame>base_footprint</robotBaseFrame>
    <torque>1.0</torque>
  </plugin>
</gazebo>


	<material name="Green">
		<color rgba="0.0 0.8 0.0 1.0"/>
	</material>
	
	<!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
	<link name="base_footprint">
	 	<collision>
	      		<origin xyz="0 0 0" rpy="0 0 0" />
	      		<geometry>
	        		<cylinder length="0" radius="0.16495"/>
	     	 	</geometry>
	    	</collision>
	</link>
	
	<!-- base link, basically the body of the Roomba -->
	<link name="base_link">
		<inertial><commit_msg>adapted so that it will also work under ros-kinetic<commit_after><?xml version="1.0"?>
<robot name="roomba" xmlns:xacro="http://ros.org/wiki/xacro">

<!-- Gazebo7 diff_drive plugin used for teleop! -->
<gazebo>
  <plugin name="create_controller" filename="libgazebo_ros_diff_drive.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>40</updateRate>
      <legacyMode>false</legacyMode>
      <leftJoint>left_wheel_joint</leftJoint>
      <rightJoint>right_wheel_joint</rightJoint>
      <wheelSeparation>0.22</wheelSeparation> <!-- wheel seperation values measured by myself -->
      <wheelDiameter>0.066</wheelDiameter>
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
     <robotBaseFrame>base_footprint</robotBaseFrame>
    <torque>1.0</torque>
  </plugin>
</gazebo>


	<material name="Green">
		<color rgba="0.0 0.8 0.0 1.0"/>
	</material>
	
	<!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
	<link name="base_footprint">
	 	<collision>
	      		<origin xyz="0 0 0" rpy="0 0 0" />
	      		<geometry>
                                <cylinder length="0.001" radius="0.16495"/>
	     	 	</geometry>
	    	</collision>
	</link>
	
	<!-- base link, basically the body of the Roomba -->
	<link name="base_link">
		<inertial>
{'fraction_non_alphanumeric': 0.14788732394366197, 'fraction_numerical': 0.027057079318013343, 'mean_word_length': 3.4833887043189367, 'pattern_counts': {'":': 0, '<': 95, '<?xml version=': 2, '>': 95, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 4}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '4153867', 'n_tokens_mistral': 1010, 'n_tokens_neox': 924, 'n_words': 188}