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        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='left_wheel'>
        <pose frame=''>-0.1 0.2 0.1 0 -0 0</pose>
        <inertial>
          <mass>5</mass>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0.01</threshold>
            </bounce>
            <contact>
              <ode>
                <max_vel>0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <link name='right_wheel'>
        <pose frame=''>-0.1 -0.2 0.1 0 -0 0</pose>
        <inertial>
          <mass>5</mass>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <collision name='collision'>
          <surface>
            <friction>
              <ode>
                <mu>10</mu>
                <mu2>10</mu2>
              </ode>
              <torsional>
                <ode/>
              </torsional>
            </friction>
            <bounce>
              <restitution_coefficient>0</restitution_coefficient>
              <threshold>0.01</threshold>
            </bounce>
            <contact>
              <ode>
                <max_vel>0</max_vel>
                <min_depth>0.001</min_depth>
              </ode>
            </contact>
          </surface>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='left_wheel_hinge' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <child>left_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>0</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <joint name='right_wheel_hinge' type='revolute'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <child>right_wheel</child>
        <parent>chassis</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <use_parent_model_frame>0</use_parent_model_frame>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
          <dynamics>
            <spring_reference>0</spring_reference>
            <spring_stiffness>0</spring_stiffness>
          </dynamics>
        </axis>
      </joint>
      <link name='hokuyo::link'>
        <inertial>
          <mass>0.1</mass>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
        </inertial>
        <visual name='visual'>
          <geometry>
            <mesh>
              <uri>model://hokuyo/meshes/hokuyo.dae</uri>
            </mesh>
          </geometry>
        </visual>
        <collision name='collision-base'>
          <pose frame=''>0 0 -0.0145 0 -0 0</pose>
          <geometry>
            <box>
              <size>0.05 0.05 0.041</size>
            </box>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <collision name='collision-top'>
          <pose frame=''>0 0 0.0205 0 -0 0</pose>
          <geometry>
            <cylinder>
              <radius>0.021</radius>
              <length>0.029</length>
            </cylinder>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <sensor name='laser' type='ray'>
          <pose frame=''>0.01 0 0.0175 0 -0 0</pose>
          <ray>
            <scan>
              <horizontal>
                <samples>640</samples>
                <resolution>1</resolution>
                <min_angle>-2.26889</min_angle>
                <max_angle>2.2689</max_angle>
              </horizontal>
              <vertical>
                <samples>1</samples>
                <min_angle>0</min_angle>
                <max_angle>0</max_angle>
              </vertical>
            </scan>
            <range>
              <min>0.08</min>
              <max>10</max>
              <resolution>0.01</resolution>
            </range>
          </ray>
          <plugin name='laser' filename='libgazebo_ros_laser.so'>
            <topicName>scan</topicName>
            <frameName>laser</frameName>
            <always_on>1</always_on>
            <robotNamespace>qt_pi</robotNamespace>
            <update_rate>15</update_rate>
          </plugin>
          <update_rate>15</update_rate>
          <visualize>1</visualize>
        </sensor>
        <pose frame=''>0.2 0 0.2 0 -0 0</pose>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
      <joint name='hokuyo_joint' type='fixed'>
        <child>hokuyo::link</child>
        <parent>chassis</parent>
      </joint>
      <plugin name='differential_drive_controller' filename='libgazebo_ros_diff_drive.so'>
        <alwaysOn>1</alwaysOn>
        <updateRate>30</updateRate>
        <leftJoint>left_wheel_hinge</leftJoint>
        <robotNamespace>qt_pi</robotNamespace>
        <rightJoint>right_wheel_hinge</rightJoint>
        <wheelSeparation>0.4</wheelSeparation>
        <wheelDiameter>0.2</wheelDiameter>
        <publishWheelTF>0</publishWheelTF>
        <wheelTorque>5</wheelTorque>
        <commandTopic>cmd_vel</commandTopic>
        <odometryTopic>odom</odometryTopic>
        <robotBaseFrame>base_link</robotBaseFrame>
        <odometryFrame>odom</odometryFrame>
        <publishTf>1</publishTf>
        <publishOdomTF>1</publishOdomTF>
        <rosDebugLevel>1</rosDebugLevel>
        <publishWheelJointState>0</publishWheelJointState>
        <wheelAcceleration>0</wheelAcceleration>
      </plugin>
      <pose frame=''>-0.306574 -6.64995 0 0 -0 0</pose>
    </model>
    <state world_name='default'>
      <sim_time>65 341000000</sim_time>
      <real_time>65 969333035</real_time>
      <wall_time>1554402610 693687615</wall_time>
      <iterations>65341</iterations>
      <model name='ground_plane'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='link'>
          <pose frame=''>0 0 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='playground'>
        <pose frame=''>0 0 0 0 -0 0</pose>
        <scale>1 1 1</scale>
        <link name='Wall_10'>
          <pose frame=''>0.007886 -3.91706 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_11'>
          <pose frame=''>13.3079 0.007941 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_12'>
          <pose frame=''>0.007886 3.93294 0 0 -0 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_21'>
          <pose frame=''>-9.18476 0.019386 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_23'>
          <pose frame=''>-11.2579 -1.35252 0 0 -0 3.14159</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_25'>
          <pose frame=''>-6.89009 -0.019386 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_27'>
          <pose frame=''>-2.84009 1.17017 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_33'>
          <pose frame=''>1.21568 0.006434 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_35'>
          <pose frame=''>3.62057 -1.58539 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_36'>
          <pose frame=''>6.04557 -2.76039 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_38'>
          <pose frame=''>3.40806 1.10972 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_40'>
          <pose frame=''>5.60318 1.67301 0 0 -0 0</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_41'>
          <pose frame=''>7.77818 2.72301 0 0 -0 1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_43'>
          <pose frame=''>10.5278 0.085507 0 0 0 -0.523599</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_45'>
          <pose frame=''>10.3472 -1.82517 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
        <link name='Wall_9'>
          <pose frame=''>-13.2921 0.007941 0 0 0 -1.5708</pose>
          <velocity>0 0 0 0 -0 0</velocity>
          <acceleration>0 0 0 0 -0 0</acceleration>
          <wrench>0 0 0 0 -0 0</wrench>
        </link>
      </model>
      <model name='qt_pi_kinect'>
        <pose frame=''>-0 0 0 0 0 0</pose>
        <scale>1 1 1</scale>
        <link name='chassis'>
          <pose frame=''>0 0 0.1 0 0 0</pose>
          <velocity>0 -0 -0 0 0 0</velocity>
          <acceleration>0 -0 -0 0 -0 0</acceleration>
          <wrench>0 -0 -0 0 -0 0</wrench>
        </link>
        <link name='hokuyo::link'>
          <pose frame=''>0.2 0 0.2 0 0 0</pose>
          <velocity>0 -0 -0 0 0 0</velocity>
          <acceleration>0 -0 0 0 -0 0</acceleration>
          <wrench>0 -0 0 0 -0 0</wrench>
        </link>
        <link name='left_wheel'>
          <pose frame=''>-0.1 0.2 0.1 0 0 0</pose>
          <velocity>0 -0 0 0 0 0</velocity>
          <acceleration>0 -0 -0 0 -0 0</acceleration>
          <wrench>0 -0 -0 0 -0 0</wrench>
        </link>
        <link name='right_wheel'>
          <pose frame=''>-0.1 -0.2 0.1 0 0 0</pose>
          <velocity>-0 -0 -0 0 -0 0</velocity>
          <acceleration>-0 -0 -0 0 -0 0</acceleration>
          <wrench>-0 -0 -0 0 -0 0</wrench>
        </link>
      </model>
      <light name='sun'>
        <pose frame=''>0 0 10 0 -0 0</pose>
      </light>
    </state>
    <gui fullscreen='0'>
      <camera name='user_camera'>
        <pose frame=''>-4.72192 -0.583216 33.7134 -0 1.5418 0.060154</pose>
        <view_controller>orbit</view_controller>
        <projection_type>perspective</projection_type>
      </camera>
    </gui>
  </world>
</sdf>
