<robot
  name="ydlidar_ros">
  <link
    name="base_laser">
    <inertial>
      <origin
        xyz="-0.00029774 0.0066667 0.00013047"
        rpy="0 0 0" />
      <mass
        value="0.15717" />
      <inertia
        ixx="6.7885E-05"
        ixy="-1.3987E-07"
        ixz="-8.1554E-07"
        iyy="0.00013173"
        iyz="-9.0932E-08"
        izz="7.1972E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://ydlidar_ros/meshes/ydlidar.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://ydlidar_ros/meshes/ydlidar.dae" />
      </geometry>
    </collision>
  </link>
  <link
    name="laser_frame">
    <inertial>
      <origin
        xyz="-0.00036659 0.00064155 -0.00027052"
        rpy="0 0 0" />
      <mass
        value="0.25482" />
      <inertia
        ixx="8.9194E-05"
        ixy="1.8116E-07"
        ixz="3.6435E-08"
        iyy="0.00018279"
        iyz="2.423E-07"
        izz="0.00011103" />
    </inertial>
    <!--visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://ydlidar_ros/meshes/ydlidar.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual-->
    <!--collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://ydlidar_ros/meshes/ydlidar.dae" />
      </geometry>
    </collision-->
  </link>
  <joint
    name="laser_joint"
    type="fixed">
    <origin
      xyz="0 0 0.03172"
      rpy="0 0 0" />
    <parent
      link="base_laser" />
    <child
      link="laser_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
