From 7bde1497ec2dadbaaf58f578d7fa7f9cf2b30dcf Mon Sep 17 00:00:00 2001
From: yikestone <rishabh_kundu@rediffmail.com>
Date: Fri, 5 Apr 2019 22:25:09 +0530
Subject: [PATCH] added full navigation stack with map of playground world.

---
 gazebo_sim/config/costmap_common_params.yaml  |    2 +-
 gazebo_sim/config/global_costmap_params.yaml  |    2 +
 gazebo_sim/launch/gazebo_sim.launch           |    7 +-
 gazebo_sim/launch/gmapping.launch             |    6 +-
 gazebo_sim/launch/move_base_amcl.launch       |   12 +-
 ..._base.launch => move_base_gmapping.launch} |    6 +-
 gazebo_sim/launch/static_tf.launch            |    2 +-
 gazebo_sim/map/frames.gv                      |    8 +
 gazebo_sim/map/frames.pdf                     |  Bin 0 -> 18814 bytes
 gazebo_sim/map/playground.pgm                 |  Bin 0 -> 85545 bytes
 gazebo_sim/map/playground.yaml                |    6 +
 gazebo_sim/worlds/qt_pi_laser.world           | 2061 +++++++++++++++++
 12 files changed, 2100 insertions(+), 12 deletions(-)
 rename gazebo_sim/launch/{move_base.launch => move_base_gmapping.launch} (90%)
 create mode 100644 gazebo_sim/map/frames.gv
 create mode 100644 gazebo_sim/map/frames.pdf
 create mode 100644 gazebo_sim/map/playground.pgm
 create mode 100644 gazebo_sim/map/playground.yaml
 create mode 100644 gazebo_sim/worlds/qt_pi_laser.world

diff --git a/gazebo_sim/config/costmap_common_params.yaml b/gazebo_sim/config/costmap_common_params.yaml
index de05e19..d569971 100644
--- a/gazebo_sim/config/costmap_common_params.yaml
+++ b/gazebo_sim/config/costmap_common_params.yaml
@@ -6,4 +6,4 @@ inflation_radius: 0.5
 
 observation_sources: laser_scan_kinect
 
-laser_scan_kinect: {sensor_frame: camera_depth_frame, data_type: LaserScan, topic: /scan, marking: true, clearing: true}
+laser_scan_kinect: {sensor_frame: qt_pi/laser, data_type: LaserScan, topic: /qt_pi/scan, marking: true, clearing: true}
diff --git a/gazebo_sim/config/global_costmap_params.yaml b/gazebo_sim/config/global_costmap_params.yaml
index 5ed0b4d..090b274 100644
--- a/gazebo_sim/config/global_costmap_params.yaml
+++ b/gazebo_sim/config/global_costmap_params.yaml
@@ -4,3 +4,5 @@ global_costmap:
   update_frequency: 5.0
   static_map: false
   rolling_window: true
+  width: 100
+  height: 100
diff --git a/gazebo_sim/launch/gazebo_sim.launch b/gazebo_sim/launch/gazebo_sim.launch
index 2c1b212..cb606b8 100644
--- a/gazebo_sim/launch/gazebo_sim.launch
+++ b/gazebo_sim/launch/gazebo_sim.launch
@@ -1,10 +1,9 @@
 <launch>
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/playground.world"/>
+    <arg name="world_name" value="$(find qt_pi_gazebo_sim)/worlds/qt_pi_laser.world"/>
   </include>
+  <!-- <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/> -->
   <include file="$(find qt_pi_gazebo_sim)/launch/static_tf.launch"/>
-  <include file="$(find qt_pi_gazebo_sim)/launch/depth_to_laser.launch"/>
-  <include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>
 
-</launch>
+</launch>
\ No newline at end of file
diff --git a/gazebo_sim/launch/gmapping.launch b/gazebo_sim/launch/gmapping.launch
index a7a7317..03482e0 100644
--- a/gazebo_sim/launch/gmapping.launch
+++ b/gazebo_sim/launch/gmapping.launch
@@ -1,8 +1,10 @@
 <launch>
+  <remap from="scan" to="qt_pi/scan"/>
   <node name="gmapping" pkg="gmapping" type="slam_gmapping">
     <param name="base_frame" value="qt_pi/base_link" type="string"/>
     <param name="odom_frame" value="qt_pi/odom" type="string"/>
-    <param name="maxUrange" value="90"/>
-    <param name="maxRange" value="100"/>
+
+    <param name="maxUrange" value="9"/>
+    <param name="maxRange" value="10"/>
   </node>
 </launch>
\ No newline at end of file
diff --git a/gazebo_sim/launch/move_base_amcl.launch b/gazebo_sim/launch/move_base_amcl.launch
index 0a118c8..573d3ee 100644
--- a/gazebo_sim/launch/move_base_amcl.launch
+++ b/gazebo_sim/launch/move_base_amcl.launch
@@ -1,9 +1,17 @@
 <launch>
   <master auto="start"/>
+  <remap from="scan" to="qt_pi/scan"/>
+  <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
+  <remap from="odom" to="qt_pi/odom"/>
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/playground.yaml"/>
 
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find qt_pi_gazebo_sim)/map/Untitled.pgm 0.05"/>
+  <node name="amcl" pkg="amcl" type="amcl">
 
-  <include file="$(find amcl)/examples/amcl_diff.launch"/>
+    <param name="base_frame_id" value="qt_pi/base_link" type="string"/>
+    <param name="odom_frame_id" value="qt_pi/odom" type="string"/>
+    <param name="odom_model_type" value="diff" type="string"/>
+
+  </node>
 
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <rosparam file="$(find qt_pi_gazebo_sim)/config/costmap_common_params.yaml" command="load" ns="global_costmap"/>
diff --git a/gazebo_sim/launch/move_base.launch b/gazebo_sim/launch/move_base_gmapping.launch
similarity index 90%
rename from gazebo_sim/launch/move_base.launch
rename to gazebo_sim/launch/move_base_gmapping.launch
index 27849ff..f138dcf 100644
--- a/gazebo_sim/launch/move_base.launch
+++ b/gazebo_sim/launch/move_base_gmapping.launch
@@ -1,7 +1,9 @@
 <launch>
-
-  <remap from="odom" to="qt_pi/odom"/>
+  <remap from="scan" to="qt_pi/scan"/>
   <remap from="cmd_vel" to="qt_pi/cmd_vel"/>
+  <remap from="odom" to="qt_pi/odom"/>
+  <include file="$(find qt_pi_gazebo_sim)/launch/gmapping.launch"/>
+
   <node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">
     <param name="footprint_padding" value="0.01"/>
     <param name="controller_frequency" value="10.0"/>
diff --git a/gazebo_sim/launch/static_tf.launch b/gazebo_sim/launch/static_tf.launch
index e350868..1735590 100644
--- a/gazebo_sim/launch/static_tf.launch
+++ b/gazebo_sim/launch/static_tf.launch
@@ -1,3 +1,3 @@
 <launch>
-  <node pkg="tf" type="static_transform_publisher" name="camera_depth" args="0.2 0 0.2 0 0 0 1 qt_pi/base_link camera_depth_frame 33"/>
+  <node pkg="tf" type="static_transform_publisher" name="laser_frame" args="0.2 0 0.2 0 0 0 1 qt_pi/base_link qt_pi/laser 33"/>
 </launch>
\ No newline at end of file
diff --git a/gazebo_sim/map/frames.gv b/gazebo_sim/map/frames.gv
new file mode 100644
index 0000000..8108a1a
--- /dev/null
+++ b/gazebo_sim/map/frames.gv
@@ -0,0 +1,8 @@
+digraph G {
+"qt_pi/odom" -> "qt_pi/base_link"[label="Broadcaster: /gazebo\nAverage rate: 30.199 Hz\nMost recent transform: 604.007 ( 0.018 sec old)\nBuffer length: 4.967 sec\n"];
+"qt_pi/base_link" -> "qt_pi/laser"[label="Broadcaster: /laser_frame\nAverage rate: 30.419 Hz\nMost recent transform: 604.039 ( -0.014 sec old)\nBuffer length: 4.964 sec\n"];
+edge [style=invis];
+ subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";
+"Recorded at time: 604.025"[ shape=plaintext ] ;
+ }->"qt_pi/odom";
+}
\ No newline at end of file
diff --git a/gazebo_sim/map/frames.pdf b/gazebo_sim/map/frames.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..dc087d865b0de3930d32baefc23394a6c2866cd7
GIT binary patch
literal 18814
zcmZs?1CS^&*DX4>ZJe=f+qP}nwr$&U#<p$Swmt8BKW^Rk>UDK>vRC%bN>ZJbPO6$j
zURacdftCe|r1`q`6N;IDp1{t~5{jFffKJ-P*38+QfaM>g2t`0ZKqqQp?QG)sFSRys
zHW4;4vNJY;;^l>Ma&|N^uz_;Vo>rByLuNqe{#1Kw^9sML@3!h>qa;L7giqd*44G(=
z2`DZhY*O^&VKVyLEkQvePLOQ8dYChNnvn)tanA(Y)n<NFhr|X%?6U&h?pAqxkX6@R
z{I_)hlV<hwLC~C)%abIgOK2bVhd1gFxgsUi45*1anRX7{JHCgg$ZZ|s8*d7fy`-6S
z=J-tnM%1OD70Qqq;n<txh1S%wl%eQ7gx%Iw3u3wq&Dm*3aCNJ>)Q)#<M+ADVT8n;~
zf=9iXX^|wyj;2kth3Rfu!3xJV(&3d$gLZtglqaJXk?ypaxo?30BqTx~Q?u4Mr7#js
z;DYP8pvVVu<<TcTKZud=Iuz~_N--KugVaq3(Nnl4YPpta9D64WE67#JTS12O9ClU&
zgW2;@^*N5fTPWQc0(s=w3eY=_c9l4HK18hwybcqV((qgrJGfdL0Fu#8Ih=sT6$w?s
zEf5CfYz&Fgoc_NnA0$sVXEYw40U6yn<4wjOK7K1qmtOQ@HLe%>zJW*l6hE-A5VjuQ
zs^4;}b_*#q@8P!YUs9GlM5$2>@h7`oT<|!yC-;aswWvR;iLAsfb0`-dHTqar5MMwd
z;qvH6PBT>d-SZ&F<Yr(7{yn?Hn|r&D)<u_ZO9Ru)L1K)aFP&nex=j)X#=%gSr*3fB
z-AY0dilp~)mO_|eCcUBen}VAMx+;9f4D}N*c98P4t|uMQr@M+fEFn)3Wi1|*vqUPa
zFaCR8sE%)rIZ49dvHb^dyDT{SqIvb(RxnIl5i?5jl^7I`TRya_gVHB;EjrE0xKVpV
z#bL;J%y%6=!GJHMo({B4GelI*V|A5rhwX?8bSXHeQmU3qd3#~+PmcLUH|_L{*>{hL
zGy)R7_Le{}*OAwWQ_@9wSjrcTliN`sI%tZN=CxB8@w9}4H~qJ)jZqKCL(saACm0Te
z8LpCFYWDO}90-(dhx7_<0*h=JY$^%PrvDPLXcTo)X92_r2_E)!zTD0o?-E8+)<Kjd
zqr@#+IsR{Q&9BfOqpi#MllL!7Gr~AI_DN1A$JF89{)9#x#tWrv5zdrG9A~X;7T%g{
zmFK)kjm)X)D8HP>)C`*rnkV^3H9I<xT2-)d>U2L5Q*P#zd0$b}o#F79_ur(9Z3-hv
zQzp%eiedHEO;ZR4iSN~DG#GX3N<Uc(E=V~F8&Nu#mP_jHkMcDwZ=Iv2hbsEeBT>Bj
z5M?Aj_A1-apLNa}x$yd#(|#~Hd?;O*XKS{H5v_aRJhn(5C=*-b|Cz@Ba{m#4|IGUT
zr2pnU2Mg<e%Ku|A{U3SwFF_D-cNSA}{wD?m+}!^G{#|qi^#2S3Iw1i91_C-GgMZI|
z67jF#zn^rXcDBy{m$xYmJq<kp>;Fp3Kc|29|Bx~MA2I?uWe<B30y=pEGZO+50*3!0
zmp5=U`BxXi|HjhEm>63a2->+5X#Ioe37DB#2$(q-33UF;Tj(F}KX)gB|0vvl%bA#?
zos0ed)t3L}_%HN-JEQcE+0nq($^JiFMjrnQOAt6ax|sa0CG^ir*u>Ss$V5?0@IT=H
zbXC#B$<D>m$i#`@Kf|W@fAx&*pZ)()S@!?atp7ii{m;Puw;VGNFw%3d{fFg$07e1^
zW(KDJ8(|_~VP^S%3G;QQi89Vc3rl!sr&3#|*W4aqo7eu$%?;AlHep*QXxQEj5^<ZB
z(~QsU$(HZ!=i>KYF?1t&mQ_u!oA#C5&d3iy(1<{!pt|}RLivG}k%)khgbZ{7J6oHx
zt8#NI8oNoN$$SWA7clQ3j(u|S<msGh|6eUYoDj;n{`swy(AQom5nO*TS$seS;IcT>
z3DX$>12ZK6f7HH#k;#FX$r)gM6VsEATR|;wUH^!n8bX|q@|v8^p!SLkWV*dwI>05$
zNK0mC=O@2E)ZE<M079?7GXO*Wu_vXh0299iZ{ZyPHP+YF0j#p#0P}HmDJkuUeM=MD
zGgFBA`qnVaKT$%<eNg6*@${{Xt&NQ?fbvlbUu2VE@@S!PdN}qd{<Hkp`GaCoeso_}
z#z-x2rG33#1}BCl!17rf9P9Ut3>n_V(m#?6oSF0+06FQr>=Z*b(IPfAzlw(t;IFHO
z3{K$r^J0%T(!Y~aG&a^cHr&6h(Gl%2_j=d>(K*-Y%GOiYIRT1>zm?!?>l=X5Fx5B#
z0JCw_TX{_sbC7-gQxj8zBR~Kf!2Y(PrqX^E@~*AGKRI7q*7`<Q*Y9?4c23B9qsZB1
zMFG$Vdq;aPPcL6)2YiS)(9nHrTVs&=5X>yC0iT0Eh+vst(36<#9O<2aP3f3?p-}oi
zm#4dboq4nMt*wlXf6BCX`miAMkyz;6>b^JgreLQ0694>Zu?3I=LzA@y0H$Jt_78b4
zV!=~&^?&t40Q_kM$4Lqdc=sFs1TRUBiJ<X6)zk5gzU}1%q;LP4+y=Pl-I4)*lk+9@
z&?0jp+6!~|v5~Veg*$;a^X0Dp`rGmy_tiW7`8)O3&mrPx_-VBKSEwMkF=ctTvG^w~
z2LRufu@2B%9f|<@ZBj`U4DQz{A)vWE<@48K{g+$~_~)|rC-1B{8-}+7v4x@e<2C^}
zeF~RkYTJJV>O@x5^w(t5k3`uzIsi`fgq0suOYE_CM+^XldTQ$TwYVXpJ)s14ZvK97
z-S5<&b>z35CaEnZp{Bk)hQdE32w8t`Pk#??^vgh86%Njy40`YI-zxOe0}Vhbimg=^
zM*_fQMrPMHx*hU431D3fKq|%+6u0;d@r!F<21dV*$qrys?N2J}S4jPf`n}5W%QXe4
z&-lsClRuq@a4JSJ*T1#$CKrBbgiHl2*2srw3y=gp*Z(5t58h{N^(Zzh)+;Sr>-T_P
zHhW}z0`Mg^9Oj6uWfsN<*b?X8KFLS9#@F)Q7X3SdZ-~o>^CosVI+pJLJC86Lri}gQ
z2lXy*X>4WkX@+<T9&?BPBtZCJH}p&>`2hbxko3uR@H0m7gMIH^$NuXw6D!&R=ht%h
zu5Ne-?qhBH2JSO8cD8#)*GZ503+yWm@dp34>iz@B7i#nY|HgpT=+_6&aPsSq|A+b)
zkWX3t8`yWO?gv<d*LdygKiO~auXux3_&37AAN)I^&_TXEJ@BW0ftqFi0##=I1y*YR
zt4+E6C!iYt)AI}V_pk$lgUj1}?fmw&H?H$(cWvnFa0V#AmY=9?w9hF%c@a49GV!QQ
zq{j>sp%N{`YRZ0WRq_k(L4*>Uz3Jq695zPBrwc5knoWI`sfOzzX$L$TkjFWM!&_Vv
zoNVX*R+3EK3<1Zqu?=lXhYzrrw<+Bwsg>Rkl32+ak&v`^OkrZ;@D$o!VB$?cP9pov
z><El{_feiqA(N=(ZbMeGwuW^Z8dqaDEV!Cu{D|5BmX^xG8AcoVzVS3=^Eov8E*cC;
zjgl55`@Q?zu#n%)?Q6j38!<`|b>8=>$?ghQ#W>zI#c|_RoIgDG`yvp5)vH_{YXU=D
zZz$-i%VP59efTBC$BfmB_9Gt{VP~maPz$2SECjnlLQkU@AuCLv#cY8F&#R*_!MOxn
zHrBx&+oXhH{0T`U5T0c;{~UAw&bY8fpd>m%NNYmIU%`SN=K(V(nkhr=^)>s~h^YR}
zaI5BXa~n5Zt{Ef~7#;)|S9KAF%y%s5l}cKSzt`cu%iWLkR5XS0B0>W!X(0SMdb3De
zoO5(ohuv2JS+OD^6@-Dm@b8kx06kA9@&*@a3u_7Y!3h(w%RP^Q3GaRdQ!gSg>MzZS
z(mvP$>6Ba|<+DL`eD!&4%c<ma|KfW!I|niB{WKdN=}G%f2FBs0@CC?v<{Q6bpUYWr
zOlH6S8vqMRU7o{}Rj_X@$Cp*Wj1hO_K)>;5w%!(Q#w;N7gKEJkBFtU}K8$ggfle|7
zdS%(%)Zuy3vI<AxTY=iPHz6694(wAcZCyqLqkSME=$gFMGCv)Yjmb6L@z((qiG7Ju
z0(q_n(EPT&8J89Asc?6tD5{03p);^Xlm%Bu+ac1z5<a?*PVdky5O3wCj%=EagY(_h
z5oU@Qrj0dKeXSMG(GXxVw#>Rn9ex`_Ln{+j7Y?NgT$@wLpA9D%>)GsSqPy#rp0M*z
z#>YXP-|q2arEt|=mMK+tYgo~VRy{9(nxy#)Xd__zm#c}3@9`0pG5lPv5NI;A8E0=c
zVFGi{G0L1pVcHD&>j<G-iAJ7ilqgkOGX>Fi^o{8f&!L$JuWhl&BsASQxz{yyb&(Ps
zKCtAEkI!=9`E$>+jA8{g?<Kd0_BDLI#$~8EuC{ALO*Xrx#IXRFb%@&Zw`S6+{pboT
zbB98=#e*A9HErVpgBtX8d{aSmW!Vt+jd^)Fo9v&yGSJm>ui}fxRgQw;Pfd}+@V@wL
z<l{*@%iw^;76ob;-h+!i7do7*RyH8oS+9GfFJou3{IYe%y|?qpP&MeY^mKx^zGrS8
z16Vb#YQyrm0HXmrmP<q+EW>DwP;4~&$kk_P(c>m>`B_xA@A1P^2$#Tz;S3`DB9feh
zE4O>K$?_|HEGhf5hPf2R+`ZYYw^1d@t;Tr<f&`jsT?+yU`1sq?5yf!5aL0jJRXnu#
zFDu^8w5PE0Ii?rgdw0iDhGAynr~7Fl60cDu)stbNV6K+k!DL)(nn-p{wH@EMRrjpA
zdB$mBjNqOQhg+33M?cYCy#yo}I4y|e#{@6#ysiOQt~=*mp4v-+3xmbW6>GxxeX*PT
zSAsU1Q##5F3%JBan?hHFnxUy?7xs1@t;r5G(47NDA?SKJqIr=dspduo!F%Un`Cs5x
zdJ>prj#aa3lrp;1mQ;X_Y)Q*k@;Be+O3>&wS;6MkUdQG5X1|p9Abk8<lT*q2CE58y
z<(wM^saHo^e-+4NIIL_NICY3zLt3Oj8-m7<Ah4N3)nI$HOo){Jg*RT#@$BkwkJd6b
z09eGgSlx3LI;`rGX4hLA<#GD?2D8dM7veC1%^J!i^+@5(_Ic9dA=#ewrC2rmg@gS<
z)txjLr!b2@j0^f%-yJ;hQ@`PtV3NAj`q&HeJ0uN~u!=I5{fHONzN}?A+y{1$2AyO{
zqX<*h8$#||Co-h~gqryv2VYjP2nN#(zrLyVCAJIqlj`2qtjmz-;6bs`5R^GpM;7%u
z80Ei6kC@<KzK?_*%;4z9QvDZ=1Aysn09fxA_mo2HS4w3(Eejz$-QNcQv{f6;{5)>X
zlWRxj?zM%*=0TVz(pt6D*wTErjw|RK6z(tiQ>p{47EXgMi@>DBlDU~H4VOT^F*;X_
zKJ3A_Akn0uQqj&RJwvK<biB@Y6yCDCe`aEaZwB5VFYO$5YAcQ|iO3TwMIX**M4F;F
z67-p1vX_~UEzQVi{1&S4_D@q;I3;L(cy|W-DJMc-8^o`Gu3}YpGunXDJtmoA-}07g
z(bUo^oO+rorG!XVQB4I=L5ZpMA~V);lc|?_08+D75EpGm-z%^2DORt=Hq=+0oC35p
z$el(3Ax1E#QtR%WO}23-?KQ1mC9zr5hnHm^Cv`i0?okSaiU^A57>4)1XC+06BBlp@
zDCIc8O*iWn41z^2V+F+KFyS<Zm}XAnG%9roeLwrS|1#+#sR%}}21%#JdQ5IRnoFd)
ztm6#<NC4+zb5iUAw?9jL4j_A5JaXvT7AFUfamLYi#5th7u<$xyL`ZK4bZ?c@?|X&m
zW6H!<;N22xdOwWBu0<K(oVm5UDF$_OG}F>sSl;9#K^7$Iv@&YRHcS>P9=ppX%~FcO
zpOMJk-Z_64s=8?~&QdNl^{V^RGYC5~nTaiPK!9r+Jpd=5t8%VQ*At;n>_aCmr9ubu
zZci#Q?QVTL_?<_HCZml+zHC9n$MLf`#SD4sEAmK|FdTOjO}(m$5^N5SE|Jfi<IWdI
zTU7j!*3uh3ZHF##GEdCBn#-)&rX3@h$vh>XPmWo1X#em!W`IX9m7T`h8T-}`C~O=!
zi6w8nN}ehcN_zs0ips28xMCvplhTk2Ty3sryG(V54=K!3sa7B#c8c;M$N`;XyDao?
z=6kzdqh<5^u?`L|r`P0<(EgB|1hDC$rFe3(vb9XQRmPGJ`kR=z6NdZwXF7a1-ZKno
zZp~F)IT{1BKYjsE)4?+q%Sr#l7GAVbUPlAOkM`FH%978uC0#G3kWSI9-LS+7-?g-?
zb?p5*lFo|q1o<!XZ~h(N%oH}SC8LY)hQyxb>x2i(YPCXeQ<Bt-oHlwE*<6ytFA^V$
zP!gK)6kgX~7LeX8`=c^{A&8jgR=%PeIPwe!qSPt~^~Yh$BqLwUo&9?Wmf5>MrmUHh
z3kW{m0iVu|3Yk$|`=B3l$#LY0DQ)6)P0Db0qR2}(=WrUDRkVA~=5xjq!O2*mO!sa<
zQgMp&3&jGnZu`6+9ocrrXRj{yxnt`5Rzn7RWsY9i4mKLLx6s}=z48FRlJ4<9WDh>F
zo&ut=^ESlLj<!PPDVk-bbmn#L#a0nJ*icYRLsmjXXx3JIW|MF#A#0VveuyWTr;VuD
zb!;URRlR7_Y)$9-Du*CoX?c<56CD;Y5Y(_UyrO`dDP|e;Pz$eKEmh6E@3@fcOLGeg
z#V5_Ll3}f{t=MTK%)TuTnWTF|#crPibB^>R1s67FY`6U*{1OiG3I|uRjyb1_Kw}_w
zhLCfyn^vS1HJ;RkMkK`P&eofBGF%y>%;3fR{fPZsUgdl|Ag0ybO!gu^8dAYVwqUH8
zf4C7k<|NFgIXq4Li7P5*7d#l>n<Jn0U<^!JL{FC@#^O;iM4s21=Tgp2K^ys&-uJwx
z>yK&neI`cIUl3mjZ^IyLvm}qMXBP*rj9x?Ebm0GzgaUR@Z$WNQX>_51U|huANwyOJ
zZ*?N=_4!&B(Q4Re#-vh?9YgO2ooB&XqvI(5^(<3RbUC>ghb|>PfiO@oL!Kl$Kql%G
z+URcmv?jKo<RN~&Bj8|zbu{F%A!MC~y43#oJgYj~Ik0^hqjW#V)IX*^DmyIBG?=f3
zV`?y$&fX?f1MiN1o6W~4N|%{h9XWMIm|`|<>PMr@ql3I~<i?>^YL7qXPYp|`zrVdB
zxjG{|pv;*%94qm{fI7-sRpPemg<R4}_U6pH@}mWpTkMquu^JgxQNi%GJ6MP}==EeC
zv@Zz<1C6^x_C+F{&B%K-6fob=p7aFU&!AC))5z(ZulPwgQLqm5lW-Q@EY)eGU;lzY
zZx*|iDAXbpbgK|&+uP)Z^?bMzq!hNDwX|uut33OuZMCmGTi_rKGM$nMFBx>~SHeE6
zjTD=tSNv<Z#xSW7%AZlCC~CGU0v(^Iuz<ye_SB4YYk`nUX)Jn|`0oJ5Tb*D&lJ>i_
zikgj%#yZ;dak>9?%b~G_IuE>^NO<gxd$_1zF3%38GjOItrFA*h6RH0v>fjdV0_@JU
zIcdMOM-J>$>Bx{c`KXC8)3jZVk{<IQs@P=R{@`@Q=>bP2t~_b7H_5P2qivWnaf+~K
zr^uduOcd=A#Y%{Eazj#3-}s!0VCb-|<QSkNp$y$_zt=2k@WQRUm**-}9~sM2iG(6+
zC*4CFfdw1n!=KD6oLdh}CefNb7^>0!!$*dpJM;^1%>&3SencOewy+p=cjyc~d<D8n
zPn*3HaU)z?Cl%oBGz85zWxD`=R#NN*qLxLqGd&tloh;Hx+XY8X<tv+)MyIC3`p^3X
z!eICQmx=YVPl<x0wu)!i2}K+yevnLKw0KCuzxUrFvY##HuW}p}`}n0kp2>nnx^u-J
zm%D1&rTlSoC&6(jik7$i28IGX#Q;MOW(LUhA!}JDmr%W3c=4+B>Gr~_OyJJ;jov+=
z0$^!sb8jD#SN9cY*=t*Dc+v3-mM++ZN|CcwdYq3?l{(bt@UvB3+B0z$+}G+nb80$+
zDcj}A52f8+H%vI=gIY=EmrU2_Y8lkW(C4y<Ac8fU=)jZ|9v+JZTJsv@5BJDHQtPqm
zRY+Bl<fPtOQX|h+(1^vl(3_Yo)775qf!Rj{Uc`i`jdGsxK(pPgouh&;R;P#tb<vo%
z{;M+G4E3(GAqpji8mCxF;kqW~<<d5t4+#+^@1?V_fy!^Eqs%vh$lUegKWFtvJ2O>G
zvkT&u*vZX4ELVy97iND`JDFa0^*zQ)-p16?Hh3(o@kYPeJC_yiwF#$}hM-{7Um8Qv
z8PX8Ao-m9wX+^E6ZC8A*bc|Z%J*#vQ`{(8hHxsxpRR}fhrNF|=d<gDbcUNTK;!U^h
zWDRy<&{252$Qe<>jMq^dpDik4ZB$<`eWGP>1^!wmkAurfRLH7AV0g`E(fWjOOb%6r
zhhEo(Ke9)A>nnxx2*%d2083)lm*<v~+M~24^F5}UM^r|Vq-^uNi}!^Xl(6=GiAKhn
zu6O-BAshv9(utc$yYlqwakH9varRuI?Q+X#2Y+RRddF43%BdQuttgk)e{_K9$%K-m
z4=|ff0K%M)Qr0{|`M&*aBZGzr8L?z<pWAwG#0RGF);(Y$R{A@^xc(xuZ=pn3W~$kU
zy`W^!f_|8lVMO`_c{-jzTv6znFnRM$pCu+yFBkp;TUKi?#B)UF%huf)lPs&3lwBec
zOJyQY<oJpYy=1}XmgqdHTYatZB9r>YdAxyW)6PVG^xzHKSH$=WTEB><gkPacaN&j^
zJgG<wg`m1xuYk0RV$nSaWo4#P2LrdG#HH%2Oqw?S$D3&c1I5KH%>u=d_9JxPNKNyt
z_)k}-06@qY6(L!<814dRqv<S;W0bRa>T+DuMv_Iti^hl2LSo_ET!trMD}W!jMyTJ=
zY>n(ej~z#WqmuM|^<j6~d1@(rtFq}(flnl|_z=z@A#_v1!H1GXSybbcF{LptrZMaN
zF>N;<px%0&<;M<6gOf+XHVFv0Fs8{)X2P?_>cxU&+M=N!0YHrOLzAmSNKqlYEmjgp
zeS!WiOf1Kz76KJPiU_<9kUE!a{A>KDjtPk~&tsf4V4{Qxx5{P6AiNF9ZX_@g`Il@~
ze7Ha(HRty$$hH7<Gv}WZ(T!Kgoo*^4yr{sDJL3^K{e}h#W>i|ifif&mul(9YqLg|c
zB%>z$WKq-_{OAu9q}}+8WWpQBG9-TRW54^HoIy+nIq=EX&)G^siG!eQ6X6B;h!+?!
z$zDRJUt*pqFot<P5%l=d+({u9AV@=DU&LeKgwdiKm58xFAVeJv5QkN3Y1gKL%n56g
zt(X2(>zOqMZa)h4f0=u-#oNitu60uV;Q<AP1#g-47w1rN8qzhlekT%aHlo0~m81IP
zk6?m(K6poog3Y1LI7;s)G~}4wR-Xe|d$yZtsXvU@ZQgRuL4-FTeo|8g?vq_zkMozi
z3~kc;6P(ip-WwW}0A1l0p52<e>{$f=tZIv0kd#Vt{FEN;dwj|uFu=l<PL$FVxx<eX
zJp_Ymtq*tvgRM%i5;2eRPO_rTyM5{b@EZN>--_Mr>DzO;RwGMUZynXYH{@Cne*$?T
z=lV{JAxAD5B_Hyb=c}FN%gf!4XPMm6V|PTGFP7h-4@F~CMweqCPhnNVsHaf7aFX4>
zJ%9w7DGfrJ?*AlC5n~V7Q+aPmo)*fakvqGkK?oNbHl99Y6ELD76LDq?<mhxu^ygO+
z_*(T}Co#s*-!bKE>Qo~~j-KlhDu6By;RXCuQn}*bPXF|KMo4gvhK|~FHZpN-D1R;-
zljF*YuyDePU&@HP-C0L<DP<i}Tb}o=M4g^Aedhyp1EIYjF)N;N49RZfX@GT&pq**~
zn9KEQoM3ixl@S-q-<p1h;tt1du<6}qj&vRxd8{=!4<aDV$(=p=-!XtECoh*I=k1iP
zJ$6BMZ-O`giHJ0#k_i`0XYTzig)d1@mjzRc0OF>V9y+MVbD^7e!Y)}lQb!CaC>@#%
zGvmyw9#kcvQnmAwwJY4Z2#SSW*@MpZm@Y`XN1DJ-m51%q)Z^;70=US?_YAPk3iQ=U
z;3F>)O4Lb=ad-g2{&IenrN&oW?afTn14&?nZKlB|mnC!GBZi{A?L66-Ogpl?N#T=d
z1PNiFYpFM!`%+Z5yG-DQ%Kv*0&`R$9rBYP_owZ(sDcAme4aS#bPci>4Wu%)osjm<J
za7R|@tS{XS7_{$MljsXaF_jK&(7^9|Q<jvI3e1>d-wCrvZN!x36hQ^)Q7z)936?f4
zE)4i#)OMCpIa-0Ru<X8nAI_Z<c)OvX4Lmr~^Ap%bkGPjbfEJm{;MRx&d)VIkxqctu
zTTfqK?0&v_3t7Dv%y5Mxl5%sIT8vjvEdRA)N5+cYSk{uJExt>l66QAhj$r|I?9<u(
zgo8_S-G4CL&P?WgCq|OgAi_F!wnrqYMl404Xe&KXABN8oi1gj2SezAOsUdb#kEEJd
z10RfHU*Fdm*sK5pt~!byxZI#!nLEkT;TA{JoAo#{=2mhO-%|V6!!js3l}dG-LEeJ@
zThe`NVF5lKAr<k9RA`z(NilK#Z73PgVdeVsFzIk}8*B*H^on)7^y=@Z;zdPKjk66O
z3{1F#qWc4giVZH|!zwgfC)3b^Nak?S^1!pQvY^nAP7=0V(9WNm66?3zgXM8j6q$QH
zE|rH7$c3EO!9G*0L>3VbIVQVMlYml#L=`gyA6pB>I1_^z(u4B^bTs%=FK_=R)g72^
zDMVaNhf*s-2$yTiGy6QL06F}fvLUPR84O;%w#s-3-W7=hpT^o-v9sI5UGIHq!_M4F
z_}u_xAC1zdZ6n#2C+;nofdsaGO|Z;biS(@ik&lbnDl+80c~smNL%~i+;8{^=ajrgY
z!j5mJoc@4()C|UfF@X#E_O%2kO@Z@AmUKzhs+kh0CJGmH2~OBH>xkC*(i+rF=AOSI
zJ3V9(C#oG!lSzGOH*({k&n&@}E&OZzuDpiOM>UQ_9|<MEgq`Kx?!MbT$AmL-T%1{+
z-r2kk)E7P_1G-gbbn+7%p&!Lo#2wans>XS|m$<R@XCV#LN7fbky;D!9!k~bf2<*@{
zG31^uy{Rt6=C|csK`*g{^Qv^Bmh5k@ulNlFU3ynP^1wHQ`6TcMuI9YHn3H+ZL>l{k
zwJbc6{t>|xnMcHfwdKdt^4IA2BxZtB$~1i60~w6%)Iuei`ZV=KdO9u^yK9HUA#sGY
zF<v3Y8C8x2HPWj~TX}_{iy6SqOlxj}K+*0H^4Ts^ggCL4L)f0JjR^NIqyeF4S0ffv
zn>xOK9ZtJz%0u=&Nk<U~hJq@#fG@rVO7|Eu7Crdk6&DJU+u2cC25scK@yEZBAncTD
z8t~~~3@cd>CM(IvYlCqmyT@!lAP|p)RdOTj4df-`()60lo*G}=$`1%JU7}MYDIZ8?
z&r!odk#^ivc|R?}^J1`cDVN`F@(fkaZAqk~!0q5ZWmpko=gFz(-xEce`W0(!|K#MJ
zHnqDb-E8WFl$p;})gQ-}IMeP(!17~96cKh)prbXLASYj@R?x^*g74^VpSA+r#9u*Q
zL(lUCXWasQk3=q!oiO5Jlk-4nP%am&)+z3ICYMxpCE#IGvs-Wrma%9>`1Ma8qdqtj
z>E#CM2*NZhihvl0+e%iqoL?3Xlq0NCqX1!_cJj<ElQ5B;C;vg@YFKfsPYnz|>-8;}
za38(b8BV_4{IQlRGrk#};MWiqwL@$_Sv{}dsek8)JOlt$V(eNc8io(Wt?u+i8WY4F
zVkK|om82wg&y;Nb2K$?ree-7#J~%|I3yoas^T#`V5rf&IPttwJ7!d_**4mWfL_ujo
zwjr(ROyfpnxVdn<VB@sjKR=e<N6LevjE`TwjKkZ`rHD%-)VQVhLObc05fR;bzUEmx
z^!4U=b@8ZLEt*kMlO*)HIBel9w$(}&%XD7$aVCiU^KE$-B8g8i$MlUPJU2NGQ52-0
z-214U<ze!~$Uw@c*i2mzrqg#vE=l;`Q3%cm%e*Nn&ZGbv?#P1?k3Ja2i}PkYK&P0+
z4(`j}GiZ%zGl(P(`YbhG7Rb%csz{jk#QgERtY#S<0nHE$?%)Js`N~rC`}dxQd(8^B
zD*9=QpmEa<;If+bA7uC|zBHLM3J>`?!KN`Ldi=#owhF@D`qPmoN(X_iqfA#gj#lJ!
z&<EH`i&u=j5T%a!xp-IYQ8yFPR8Q<!Vop@u#T9)Df>v1vD#i90=^VzBz*?9DITsn4
zY)FgzKZyYKro89<%1+S=n;<vq*U1#d;Y$P_jkd8<-br+@e6HYRZHa&Piz9G28c9Rq
zhiH(LPFP@09<EFT_+e!wwQt2Zu@P=f9*H?5z)0?0zqf0|{rcCt1nR~KYnRXW96EIQ
zm#3C?{NcfftCf~vC5_M|L^+JpmqOVrRdYei>H)G=6DQod^m`QzJ84ium3#}XFWuh?
z$fC1dOQor}wB(61b0HQY++@ZvBuFcie!UhZ%LDbz;f^Z&?y=X=;e`(g(OJ-G288A`
zRBv?!EG@SbBB!W$vx~z<@lzV05A*A@lZPj{ZS6I7F}+B#Ik$V~VJ`13#iW=&=Y^1P
z$L5a|Hu{OoFw=1F63H^yuTF)>Xo$@?R=54k4vOwSyd{pNKpAWuhD4Lzyrh14xcxa~
z&@ztK9%EqXa+?E_0NXx+#i>h*x=7#>La(wlO5Or}AV(94K7f^LbhXm<><>O{g_-_n
zq88Of?zECsv~@s%gt6zQ6E2h7Edd}W%>PZm53xu$&P-3NA}SI}(E=W|4LJ$>ap?Zx
z6-R%*)Zl+3dntla!ju5KJ0`x{tGR;;uM$B;I+i+H48pM=mBCWIB_+~`?)ku@gbN;i
z@ju2y@Vl+xG%@qqPSPDwmEO2n@J+v%e-u=j%_PA>9ey{FOge<4(#kJoMWrN;EWZE)
z8VbO95gg>?f(<V$k;isM_$>NM%<r!8$7;CL{gkk1l`u)tF4dM53@_7t<~_O#)AoV$
zgwQ1)ZZ&rQ;m#GQ;f*GZ_zU8O_e8i|l5yA6bL|Y2UL!4Y1f1>BF?jylB}(Dh>`-@>
zqDVufJ2Q=!&-Zfs&u-;nZSVb4L;u*=a1&Yn&TA&+@X;`N^dB}Je02#m$m63iWf@_U
zvQ3*}U(Y*|jVURuG7kQ0AD0Co$24lFLN<1OqS$r$goA5l<+B&a_Q7*YFCVxDEiF<_
z_x|`&$r@6ti_IN_g~f%nq@JR_zfSdSFY~*}W$M+R$~-pkZ%r~{M600t{N<=}<?T<g
z9fTBaus*TqPjX<ugjXBVh$A_jym6c&nypQ{;^bp?QbR9NZj-Me5ktfEC#?&|s|;c4
zXCULTru`oK_}3SbOal?n-)d8^_dG&9BKT^ZB`nuiT31(RTjYk0vm1Ls_itC?!x5xl
zaK52OVe}}n8=3e~vSX|2(|H>;Nlcz<0ZmAbIf=p{w7B6qX+mapofL}c?DB@QumF+B
z3a&`im#`tn?kLoj<MHit?m-NQn2LUc5~{@&R-<FxA{n5ysB*=Rq}bGarsg}j_)Z{N
z!tRG7VsqQ#NZ*NNA#?1Vsr)B=fo59xr<Um`xTC%vfxCh5aU^*aI||Y|apxRi5Tbrj
zZK~Y<07xH{oe4n}waVmR{LUS_;130@3YhEX!>Jfq<4j?cn=Sf$puN!gW7f|tE6GD@
z^0Z89^gt*J*-lnl$vyDTFGMf2Xx(x=rpp_CyUlV|^zQ;6>}YhN+SRQ$le$-R+S{T-
zto9X4sa#$Xk#&T~!(G<i#nku1TGI#y!mi32!rrd^ORSXGI|Yz*tOUqKv9!flW%Q4@
zv%5mF=mN?oEbM<$lL!)3Xe9KyR{TLllt!gt7@mb!6;V*y8#DY_7A!1=3368ER$^lL
zce)JWKBuH2ilj<D6a#Sc)g@e&?5GELp~F(Ed}pwbN25F-eX~{u*n5><JyW$N1KFgh
z^Hv=zu~L)xW~Xrv2qqj!bz_hLshR*21-dqmnz6yfSa;eNkEE%E%Vti1sMa@?65N?S
z9OXsGKk9rLfz6g!uB$ITOAW8=+vXu(nm%f*atRVAW?CQeW5A}BLdiLjJ8DWNtfASo
z{+&d?K2z^KnZCz|JVDZ)wRs6Ng5vGel^ort8^sh(0>)Yxll%}Cg;{(mBXw_O64mba
zG^Ii&->3GRwT920&;L<gADnO_N*NpM8(b|%?%)cSNz{!Pi(x6ZipnvMieMaq{FxBV
zs)WTIF$LS4fOHItt)>f2Rg8)cH)M%Ng2?U{*#)tu2^}nU_fg}g45kW?Fy-<IX1(=(
zPxUm<#um3kP?^G7;dJLrH}rBHV0W<$DL@gc`S6A9F7eyNk%F1b9Oi6CHjX33FqvG$
z#htB9s^~oNuP{YEwTVjG*>9_tzJnKW?u;9<FEHZM_L5;E-U2O_dKO{8uvl0@Pe3)E
zjoR9$AW@6BKgFq2crA5sQ-~;1UD1kuAVX_X2<tf|8z{x)3{}Rb4>{!!b`qpK9X@&Z
zWY>O{CsuM=z&KM(92j_5o>>#0s%$xkfuTH?jqa-32(|C5Cquz2k9AMVNl*B=M)3IV
zXu5*E(GV^1(6cMH$oRC0S`pvrt2u_*F~z#!F=tAER)Awv4d@{Dsg7=!9WqTmo2fbQ
zo2K}@{9FMNoj{0a$X@D%5b|80@@5x5$8!RG<$|u0k}y;L4CW=iYphQoW0Ba3$Dd8#
zS=DKL)Lv!Qz~OA{x_x3CK7Ml}^g5*QSSY3@$iAlAOomt=#SzQgzsU`16ogO98cnGC
zFahMtOU)QUi=0)k=175qq2~J$Zp!kYA5}9y6L!7rgmwvkvbpQ-3?MhE;#9{FMvX2r
zLzLIlxehX6F{BQ&P*=WbN%t2n43yA6@cEM#>cP|~eE3MD9nZ<{p6qQ}!obVxDQ-sK
zB_YTvvO~=bp5Pez>)m+~4%$5Wo-1!LesyxNv7VqETn_;U-EM+$73uFn(-c<cjkxu#
z;p;C%`N4=gLnv!}ZmRoxg_o0q>0@R(oz&{?wpIcJo{B9!USZ+c;@967lS&nL1Uiud
z`oQLX6Bqqx8TE?e;rSek$Is!}3wcIrqs+n}2s<IQqn+$U*DGaqib`hF^w)7PO=@t!
z*C)}`VeCiaIB$mAJxD`>1MvquR;(15WP)Z#8m_az@#b7F?xx5Rd2~$J+8nI78f2vs
zSu__Oap?Q+`l=QVFPp;}BB>#>oy~AJB9dGrf%;mwg$^||+J1-D{Xo6il?BNy?%RaA
z+4e;x*URdOCrI}#B<@#r?6u;;kQGQzxv2GsnG7AldQsF{RX|2nIZ{#t=NcreZk@V9
z4mDl}7eo!TXZv()#yyy~tBDnsnf{Eig{QTQjz>TeXPtMy2}w5fj8AW{fApAnP2$VQ
zX~E}6;xEg^r$x#AqqQKPaZ^J>6&^wF4vsL7mCptikyWk7>Cew6!F61pyW&vhn{Zp<
zk|%XatzJ16kB$l%<_p{1dB(~x^1-1*9xN6)JDNna!mZ;OiM)OfiVd*I67Oj!Pg3kT
zo1FR1SGFQMZgVt|ujS>mR`7Rekj0<pHPfs)GFSh4zhzMr8jFoe9IE8nhX@sy+^F%w
zr#ZY~m-<?W*A*i6K-BB4No?0d`XjCf8I_nH25m3yX@5*%dwBEuZvXH1paFY;$3w7o
zKVVzW1Sp`cjf_ky!CnttjgcNiJH&XlNK!$%gylMGOu)isUtOxQ4VL!MhxKF8kXu5B
z_(+=Dr1n7?fl!&lh>hc~htnZ8KxP9^F1fb7vLt0tbsTW3?8LOTrSPf*9WmFA6GqXZ
zN)*5Y!|M>Pi3%X=*1FqKF`-hJ+-Jipq9j|h4KEEfW=h?a7V;j#<Y`qSns5JXP#ac7
zviI^Qv93L`jOFbw1dq(AvsD3{1x*R?@I;#VTZSt@N%sy$8NuMTt;<Q7C$|0t1|GGS
zGr0HIhJnGFSQ7xzvJL?|weQVJ25ua7-x+%3ZkZbC9Gp01VB8WiDKL~NeTxJH!X&XC
z6}Wl>FoZ}k+Z}`2Fs&|v^~eD8lr-_29$2h?Jq=p7LN2_zHiZwb6H&otVMW?XK_N7e
zfVMNOV5#^;>{Z=oVCCk)XEQzJKRSn@a8b9G0|s$1F_KGioX0l*)+h0nu<w}2P9Lps
z2j4wydpe)hfdMYj>)>1=li!K(*C1$Kh&)o3*mw$5q`LjIsieZMSZ#C_+)zEBBOK@h
zpj(;>uh532)~s`xZ1w`zOs9b>%-dB<)8R)Q-;}@WBC*8Ssw}Eje_|alKO<|mic<K(
z$nkx|!p700)Gry!xAw)6fN+c5AfGZP0Xvm~aW<+6tMcXYo>$K>Wh__~*<k#$l@+H5
zxSV}otUm&0cM9b-)F;dDc4BQZchH6fPv4qx!o-1Y$qqHa1lL}$oI2TcPt+D>UZ8D7
zxXdFYM95Cn7A6{FzN}YAp}|MF2fG+!-o2YF$*FX1%VCS@a>o|vK%d>ZRs5N|m;biO
z{57PW&LT=)=DB-DP2b+l^}YyMgmy(YMh6DXG$lAu{K`>U7M!l-->EQw1ceP+o4yb7
zAQh#Na$3mM4&Mo}CD0}6&E^B|coQZDUmz2q<K*gWK7$-oQyq*57U_YR6^hO$z)I(b
z;H)tgZ?my7{`Vbq23r2Jr-0_d0tRN^Lh~UpLa`*x53Q3BGkVZ6(#d&>)1+kW2bO`K
zO^>IoQ+V&UjCT=1W!l~qP3f1L%4s0iaC5P(FX1!B;ZW5ZYW$mMsodp<s+JmFt1zS_
zV5(=v|CG@<)C&z&rs-#qVu#B$p0X-CjlEp3zSzh9JKDLule3t`wu|#d1@{->;<=O}
zdte8!c#^DQ2!Yx=BSVevAY(R-a)+*-{Dsz6cd&9$<f+~M?dPj&thmRl_8hmPia<>N
zJ)UxH1kW7oM?~!_0A3YR>BFLN&@EApAP{BGu$L>>P;Z~Dg!la5Tb{~9bz|QjKP1)!
z_2Hdy9_Hq0YUrurQi(C>Ex?KKrNDEJef3_+eUjczQ*A-GB4g+BRrANL?>3kgBdI>1
zT3fN<{s4(+=bocmuBBg)kGQ{a@wnCT*-88$2fB$jLSJ_ob3PYIGfaqTajQJr${1lA
zi=X)?oWkNZhQuk<1DXi88#dLJq)6R&BdbW2TQN`2fkm+BY-Kszp6$p&G8ne6Hm3Bc
zi#K~)>xpH>n<05k&!C+nw=ZWjQ??cTcZ8!DWK-P6UR0NDJ|~?5f^+<G%O~ZGa-$Zl
zx==v8Hg+(u#WcHI25C_44lfs0)5x+Le8&u<VH$)jHstllCoFryxCMi<WbP{Usvn%J
z$8=OsQYV3A@Gxmh*ExxsN(J$N+RSX7UQlxf)ck=z7uKQgbD2J^LMT_2Sc|pLR5pAU
z)BrSzMr7Jm)H|`Y7<43mgr8&ZfGx*Ik4_hgg+DDHP1HVw<xXaDpTJ{}TSTA3xzDhP
zRRF0#cqGd;xcM2xAbGsz$f2`KPlABa5R0z#m|c!`Xh}@E{61r%2g05OiGn9$sePf>
z$MTUv4F=inZE<@{;#*66j?Jez|J#8Sk|DN>nXx*<g5z}&Z-(*5QK?q5#s(qvF)V{3
zNp4KrO7T5KApnUt5Ouki)}e%P-zCe+8L&950&GWu8P1Mi5;mo$4J86i%`!Ze1W9;n
z?CeI@FrAfS6KEXOg}^QZ_HOW*^(wK(9+c#Z5=;6aMpy>xND7*qMOP@tmO5rnm!!N7
zW_)=neba4Dr+d`W;7u&6t7q=Sw7<P%q-YJ#<()ozdPX;~9O=Zl=xrNdM?N!J)i5Oj
zEFFb=l9W)2ZH5jf@L>&GHTY3V1^zLeD@oPu9y-CRdTAoh2~d7MNS16L-c}mEj*#kD
z2fJd^W<T``UN~Uoa?%?oJ~<!xu=mi5L;8Y-QdkKk3-K+9B(0pV1L`AOBz3mJTXmY$
z5|pluCnlM$x(J9XJ~8Q&p?^%Nu;UG0ZVwt-aWPET7@d%h#G%Erq>9-L3Ay=q06%)5
z^tSlxJN@jg-HXlh2D?xZeH#KkpX5*UpQ%S3DI+Ed5dL2J4<m9hYps@OVcut`F5^cK
z9L5e(Ju*@(*|0VcI-e3QhgLHuTx=EU9TK-@xvyrB;VSAg`um=_WcLrky{gou?+4Kp
zo(%r%93%F%6`!Xk!(n%UIHq8b={Grc9)esxPN80U`X;P-a!g+pn2UN_Vu!)Zf+8W%
z)qV1qbSbW6D%U2UYhP`|gQjQA;LnUrfqc>iVsV`HCn${5lliOqF=avyd@=RI6!TaD
zo05L6h>2bzMh_iHySBZ%h02*#ue+5f$Fwm#<PwL-m6FVp@8dQ_M8ULNgP0e4vi)ri
zL(>Qm9&qJ|0D<NES8};T3t4ybw?ZyG0#sFfMR&EX<*ikR`diLc0u^5z4$FGXHVMF<
zRK+ryrMZWbSZKXY(i3!__dQ#OD7a)-ey;Z3ssp{$)?BfxmbIepLrxBmSP(*un3I9(
zEt#!W1d?zr7(bt=fPm7BJ6n3tJ8N%7*<T6_-p2GsdZU!*xx40!yY;zoegWBly_6iK
zZTi6^8Kq%GhYpYcn@A@g2ETx2C4XnvYEYn!o2L;Xoj=4ii|YzxA@|VDeYWSfz`@bq
z{dq>S1=F+eO)uC20Z}W?aD=+S%yxW%=?@FKr5y3Qf1Pj>Ovr8q*2**Lm^oPV5S<7c
zAvw7iicpv0ZW07ZD9%?}!kPH9<UyYF!*n344rX6VijV0Lx}0L}c1@b|ftM-sqIsIM
zS&Y*VJ*vN@M~zJZ7?|+&a$aP10u4<4w7{>+I2ApkLBJ01-a~`I4y|)7`=Ln;+NgUO
zcptMi76k1Y`_G2|3YiF{idb=9gRN3idvN0r6sY|MS676UG%@A5E_7`2q`Q<dek#`s
zSB3ozj4YD-Ao1RW<=e^WR0NDh@Kn^!CRm0vs-v>FP`REP5~obH-jk0Wk1o8s=!X)4
zB9BZ1i6v|SU?$JG54xL!xHfkaIpUz>!e{FGP-(6aEf0CxOqpQCV!R0c34Ajx5q^sd
zytHWh<07@!LNIO$4$X}<?(L(U99ZFVVP)`atZ!yPSx#wwGR4xIJTpPRjL1e~;g8t*
zXo9h}>=r7-C6T#mQmdIBsGI5|l>b&1W0hsz77dmzU7nptQ&3oA3)+(`v;QWRi+q?m
z27N_THi*YYD0gi8p7mg>-;k_DL|b5mr4%ABb;^Z-!@;eP?B@{L+}GT$HQ#vgz<@6m
zF|kdEICSanzM}DZJC9n;eH$^>2%6{w2v5I|wlFyoQS@Yj14zo)jt(%9YP@L2{LAb$
zD4OIL!TBqtTFmmEtBs-=^wz?SjUfswD9H}f@mX2=*|*}78LRq|9&jVSuc*7-0ScPT
z;azR1{yib@;*ophIFwAq)AgWE;;vfh#gmlP-AG++iY(}}yJ$>Yo>cy2V2J>^+}F~|
z?|e?MTQX+DZ!t7cwxq#oqY~8iwF{{{hl(E7lL3KDvD~ei&eF@Vq(--6PRp)7Hz2hs
zpZ$#MSNNYFbmXhS;ly(<B7*f6f@$QUbbAwxO)6!^hjfdk;U?yFWfGiEIrUkn_F>Pj
zqq1qD5(FL0{)Pqm_7_C+Mu(7=CAwy3!ry61?l%ll<vbxcah%_hOBg~h<hJ3zoD&F+
z7q<#uCra_4U|liw$~z8eYK1bTw+u1o>Yd^%vQz6w#E`sA<>&X7b})1^ehi|(`iwFe
z8Kx3~c^10Ru|OKFP%TCklRTYrrsx+t+@p3}nR>-oPuq#_d_k7gQZOM*AYcb?`+k$T
zWiv>w=zG`Sos8P;`|8nny|FYR_{bU%Mic8VoWOa5@KQ0s_B&_}X1QFMoaQd6+4Nt#
z3GvwGD_t7~gJ<E&TCI;T_;G%efL0v#ek*O=qL(maTk{2u81QV0^8Imcnn~Q7R4PA7
z2rk$JoG4qq`?pU?&Hq;1Hh~f_CIh5Du(5;%LCgtD@6Mp?w2sap3lZv8+lt{57XT^-
z!080UnDKAz;2;ZjG`mvVAIxnMdOKXyd&P0-5%?kAV(@%05p<>k1TIXGn1k!>=#GNJ
zco{$&G(2ji{;tJ2Sz5F!2a<-_4``d+3z%f?r4fj%z87|_b1}wh;{sX=Fu$flPR5M_
zYZMH!Lbt3IGzRN%lk5q2BYLUjK09wsH<^B~6~${fgGmjh37Y71qgAQKT$<3iun1vV
zC5%)S3}~5xwbWO?TU*<085Fgu@aZ|Gai7y2jSne9Zq4xi(<Cy=^Pu3z1O-o|P9Ezm
zo4L6rsc;r&QtDXMj-3OzdXFW>>Fj<>7<s7R_%sNs+M)h|YnoDEfn~cH<3?N!J#hs2
zeyph3yrE<~?)4KQ#L*yx+=alR?$t;~Y5Qj!S$&F-u-!i-kZuFxF7`1={pwn6DOz|7
z30<sUw{cq)^fo#^>41snImtXlS58VVOImLK=4n3?kbtNUs7ijXodNCm1dDBHP(v3V
zTs$=f4wYhfE+<KQ8tzsT8PdAj$-Io!TY%Urp8=yX_zH<Pw^_i1kRBzf$?&+j;jXYj
zKCjVNRrCEp8{pZozXw=vr+!+nD?M=3W1~pJRabv+BIoZ83$1E`*=csj<Lc=%Ys|0D
z{XGc9lyDV&(vbtYRRmd@CS1CMrXK)!TFdo8w*Lr8jvHPlJW(a7Zu+tU9us>F&YALc
z=6(yjFjsX7DD1`XU&fZMX*3G<a^ZYdjH|kNXnOqOxQ8SdEN5Uf4DG{?>U(N1?lvlF
zARq$^ZRAATStS3^8y`qYFrH6Vv|Qf%K6|a(55NWeQ#@d$RPz4w{FPsan{bEPpre)6
z0Axnd=U7}JTv|doy;UICm@7#_al-v86QUY=mavkd2@1ml<b86yxTbLzRb7Qtw2f^k
z>jC?m-W!$q`=MaKjOR%@S=U2Tp|E|`hWlH1ySwYp3XJpJwXD!SjAY>vy~5+uyQ0PF
ztCs#tOsmc?R%TLyAP8MQZZg6hq+Kpi^MwVmr?AIh#`%xQ$bFxh5PpUu+798)_B;H2
zioEA@jKe<+Xabwxwa!flZ-U|p8yn#LEwrStB$RiO_MCvTmx2S-UL_coCc2R)tub*w
z^pO}Pw`USR%*zJlG@X!;z7q?ZMS#P&FU^}=NKOG-0_p;+BlhH>F<#F7s@BPYmtqW$
z1{92`lAfM*&HGWdl&8q+rI!5~V&<BRT9y0Csi=BUK5XA<FjIPaj(Xnt#ecR<7|=!T
z-J(e7m+v{rIT-kndjhQYD$Q;nor6}abs3`)HFBDaI~zbxzG#Ks;rxvx0|am=MMU3Z
zsIv(QJo{Ej-IV7K8glHR@}{?ShuMAAASB!=zq~YaP`AaL))HSCeV@h^ug|GYjdEgb
z-O}6s9^T(LWP1k9L#>`RoL0DfsFZD>*Ng44A=?lGS~d7aHOA|y-%tQ`D|o(GYHEqs
zvF|A@9ar9V*J(z*9F7+?D1_n~$pYe~?js<c8Hqcl%U@y)q69zd?lVT@^8`IGgI@N|
zXnC-zQ~14z6@i6`D25TP>NcYDz`k>C!I#_4d8`<xTw;(pU4v*fyd=z=`U>fYd^+au
zO;vl8c2ijZCAi{Mle)K<>N`7UG9ofRRsBX^cp(r@htC82+q`<qfLW#!k>iG)dXmuI
z@^INH(ZjUkJ4RcS-J}RiW4z20za+H>-tjVlI;WN6+Ce~SK>I>;w(Dz4tzD11JGf}3
znlq5NuZ%s)dBMV9z!?+*WrRRUV{0Mv)U%0%i5J{<s&R^aU0e}`TXHy5a;AW~#H%bn
z)6S_nr^gEHd!UK$c4vzr#v=2H`TJGHO#eTPTzyOvXB<|y7)OL<K;{;;9u8Izp?AGr
zujdC?T2LGT0TI8pS<BHLgI?FWn_z?pV#pFTA(^6af^5t&Hkmp<2FjNk5+}-xIA%dU
zMwEqt8X04ZK=;0Ptrogu-le(wJ$c{v_woMTOaFPEu_g9)S<T*vee1^04jlccuCley
z-~XlIpV6H1Rr7a!-tAXBSbi^N{rFM8faZyupN_A7Ti<o><==c;ZyveM51y{IFI)XV
z-EM0&71RAaIlQp;!_I5x10o&U$D8w+kV@+8xkB@W(y>18{d!Z1H84Niai)2wR_Ge5
zHl67|e<;p=u6JW@ecV;=V0w0N(9Ubi9yWCx3%y_0h6u&Otq#Q!t0S_>A)j~Po4s>=
z;xGO(*XM|})Mw3F`L?2lseGBwBgdTj{K7U*>Nlh!JE`9ofm5i9k4<^9mN7`Qelc-~
zcaxheo#_0!iBNvXXaC~c#VZ=;p?t|AyZ4R1W?$5s=DrU89q6X=0^h$qXLaD7Q{8Ws
znQQYR@*;2Dc{o@`$I83AG&gIW2sMX)wDgXsQdd5H`pLyh@`;3!ywe%4l|AY>sA$RA
zURBMFDyS=#2aja+59nUSVXk^AQCY%7TrP@ilUKxF5++*~l#(4Ai}u}EwZ5h#FLzim
zl;IaC`|i_(&dJ2IB?o%O4xhL*uz2|wK_kMjUrAmBcbB-?B=l!jX5T8iWuJ8&J=Ku=
zRqY#vc9m~c_#R@p_K7T8p^346);nq5Twp!vU3E~l=-ctdPggd-sR=D=3}~vymTNPj
zE~jScdn$8v1!|@~x<2K=KZ$>=ZU1;{%MZs%wy_C4ue~t4u3$WE$EH=YUM<*W-P+&C
zZD?y>cm&C54g5WB>C?oKuqzh^51tIVb5(vU;m=WfNu#{qI8`yimTee_#nOKroc{_g
zKSA}qS24Eq?|{+%^3kfG9Z5rpJ)INL5u0VBb$46t$3BkFUf|0YcdKJk*Y9%VrrtU2
zza@EMO=hHke|fB@p<LLKLN_?ZN;|*yYz%R?ot>e=30GfWkb>``vr8m;$nw|IoYBTu
zdDbSf)gcsb$O0_>=&jl<(Q8BFnXH`xm&9hpvs7GI5^WNsahV1aVCg@b6D2YF!!Wf5
z2~%n?1VeEQp_D2ou|JkKWHLsr#gs`Ss5nc@8KE!$7$TZ54rs&4BA_!^*U^m0{Cr3<
zPiJjHG}3fvtaBMKYCy=R5lGp0r|?6`0?(Yq^^=92yeL-yYazLeGH|r0eDHtCGd7Ob
znGH4sSBh)J8Jsqzlz{1#Ma0@m2Qb<K1X&o12~ngn7OjP2T!6SxDwD>WIUtRoB;c8K
zzi}K#;7`Kf8yuq~H3)&CFZ6?B-B%=)N<^)OC3D>nalLCa@Jk}y(?_{b=?T3<83&aZ
zgZmT4=!#A94K4Ua{zueee!!=DMy`0^s-i#y5PD!!EDY4NL11|9d+piZP>6yP>-r9p
zCRP<radxDR6`(GKo8ANFE@iR7#-<5IpraFPG%z+6!NM^j92~7+GtXOBD1c@LKutD-
z)yx>VaMorD2@yT%fXWWfuogYk+X&XLP@))xs!#&OP!*vHMF}~MhPXR@F4p1F&(Imb
zVPQ?;a$*Wj^^E758`(BG-3tYh5?<)D3sDmUP9W)sgkc&b%m-eG#fhO9MuMu%z)%uw
z;B*W{F`z6m9Ru-$_L+uZB&qb6i{TV#sp;d?l*f9Qn!;zsf{`j>X3PL1XT}0@BRza*
za0-Zqxcu@q1Na`;M1`beW;YFM1=To`SQc!$r1SypSW7zCTe$IJD{;KR#*5X(G%6M8
L6%-Vm5aabPqFL3E

literal 0
HcmV?d00001

diff --git a/gazebo_sim/map/playground.pgm b/gazebo_sim/map/playground.pgm
new file mode 100644
index 0000000000000000000000000000000000000000..f4af84ded73a01291d683f9541a77ad595abf937
GIT binary patch
literal 85545
zcmds=378edwZ~hc;u1|XiP5~Ekf?Euf&xzzMKLNWin!nk8YBVrp~2nYGn(KM6&H*O
z7$Bl32(rk&ILJQ3+}W2q3&SS6ATA&vbL*Xd^<Db*?R#&X>c#$E&-YFD?XGjquTE9<
zQgynzNBhHm+q!GdKU{pnwLLqvzPwxa9<6&^)4la&1MYjM-=Nkv^&9lyfcpowZu|ST
zhqdj{wsre++8)-fefz^A0WT$W(c0RYn(C^m%F2rJ^0Knh(vp&r1Vl-7Ni<qlU*FKs
zD3|);#1SvnX{MyY(uTTp3#E-K?|byGfBVM^FTeigh|yy|_~_$lGv>@MShRF`VR59i
zyn0rv6)lfBu2q{8PdVf4_UCo(a_f3izBGzVRi`p#%@s_QMhna8itEk4!m`F_akRL$
zxQ={5QdN}|<cso^Gv+Q>xOnM`qT-UW^2(~3+GwNUdg)tD*30T<4tVm>C!cxYjbZP+
zGj9B(snciA`}DIV%L-RUO3NxLt7~c-r<^aQUa|S=&DU?fbyFX)@T$S<A9rnANx^Xq
z<eeGMuesQ`vuF3V#+k-RN@Bq!I*9-){WMoqTC{ZGycts_ygz#Q$fwBC8KOCseGzF3
zB|p^-V4AY{kA!unW7~Tf#&M%Wc0BtL0z9)Z5~*_XplJXS7E=l9c123Rn?<3~!swXO
zfi^`1);11!B_m%pEvi37w5ws9FrH(G06P$1HLWk>$f+WwrE3-o$bnrs4vZ04CjzXY
z^+&z~in2~r1E;g>5LlNuU=>R+%{6L2n#EMZIIV!?KzOht0oKy`2A=_&Mb+7caU+ip
zfaelml-7Up8Bi?xonf4_h-rnuPzM2cA5&DVT$8Dq#b|0FcQG9Z4_-uob+jJjFQAxp
zqG4RHl52#(E{$JF9^=X;oujhREM6xE4&*uz9_&Vd#k79XS3oi8c*FQZCEEspT|<Bo
zTK}Cbtm3&u8u1r0F_`T@c<}mq6YvFp0izQpj4I=sAi$gBfUoeS6Yf!1H_ICi{;dW9
z_O3HM=r5o`9vqVpVBa|43ST|wXkB3^0rroY9yIv=S1{l<2>}jF0J_!Xi#!27xr#i9
zr$b*1xK&DAzkV;|fX0xp1HK#w3~MVkUW)^62_qrZLF3IhU}IPTM-X5GfqoNKz)^9)
z;;;g~OMvy{!D=4><voI%b0O;BxHw>)4}jw06OR4Dja~pwAV55nG`Uga?4@Qw4<d)G
zcA*%69}^%R>(;r@<IEQm&_8vb3&l_{jR5iFzR`sqXTWBtH#WG@3k5R>5S=qy-6(P-
zlnz|9-|?8@P5{m(Ky+{I@Ej1@jqR?~Lc@FlL=Wayt~5D#L^?3y?mifR1q6sr>Texv
zxY`Bf#x8f+hKfZ5SWfFbu4poaq1&i+=RiCc8%qeVjMn=yZMfP4-NyH>RKz6Uasn(N
zT`u!#Cy{(>?R&Yup{0-j(K+L;vSe76fUb2y%Sr+)^c)bHTWrn1=I($R;)|@Lwd>rb
z8HZ*MRFaYwr36^&i8c!%@LGQDKF_4)pw)1p$AI874sg$hR@~xd;zKL;KwZLx@)~l`
zUJo=Pqo{-)148RjF%S6UdGN;s=xrU84*ZE1d=l`do&&;x#|f_h-#VNCajEk}A!;G`
z2ryA0U9G`&u*ZP1fPdqS1CiNYKO;cg&3KdLxC2l0NE>k(t-J-44m>?SA9~gEmcCR5
z4_1IQZ*r9cQYEz67E4%xxw&WJ%)$&pbB84@X*u+DF9Ah1KpU_8X|D%j*-4VE@rd7?
zeEQk#J6&{XH%j-*4Fp&@lD1SFlqU^~&uDA&pjd7ka`=%)AM>-c+`L*zfK_jK1SnNg
z<@$cluCI4&-LS4HT2mfbfx9_}<sm!ZXAX&sCd6)44WmPOyrXhh7H~YFr6!4;Mc<A4
z;N5rLeC@>{Pd)zN!2W-{z1MYr$QZg4^PK?E$seg6>ItCab9!{J!lt$}Qa111{msrV
zwrp6_7_BTRTv9N1I$_axHuWt0(+fZ$FCr?Q&YmWPFSn9_Lp%W_C7zw{%{(LkYoGQ2
z&^*Irlv{RhDI7@x4)zMr)-V+qawbUtMjv$#C>_WjQ_snVN-Y~n^g-8vVh^eC`sp8l
z2w8~K4Rj9(K937n-Wo~3`T?ZfRrU6xg;41emI>I;ZT8I?n7cx093?EoR7C3UbP4E7
z3o$(?0UK^}2iWYB1LdU&9&EVD9iU$hOaeCcbOmTS&{ZSLQa_P%c(Ad%8$jO*m;#WA
z3-^PKxVP3miOB+Xcb3ZHKnb{x09Re$0?<bXO28Kgu=*eRfN?%QYM@!fT?nvvlRlup
zIGTR_$X2-Ke$<{z2vA1$=+!}A9Vm;qvpYbuh3I82xA$-q+B>=e^w)tBupIyq_Mznk
z>A(st(fs~1J$R-YKtE40i6TD51)$%2vWR~NK*XhJl#{<LB;H6)1R%mb_<+7UP<rqL
zeL(5JP5g|hG!HWkEc_P$5tqU?<i7)@2af?D;!@av(t+N`Vp#nP6GsD3UQew@6t)9!
zp!DER04QHvQ-HE034%`oVjw3{c_{hPVqIZV7BEvrL2Y^x7&!!h6$k49vg>WS{k*>b
zh>@m9*@0X@=|Ha|MKXY4<v;+Iw9o>~Q0Vmz0JZ=ihTK{8NjlJLoJ@Vv4EPXL!2vWQ
z?=ls7zK5_L2jB`OU_cIx?I$k04G~$!1Kf+`ez#zh1`L6(WHAfS9P#qJI2{!3Cay97
zF601;T}T~-1I0IF2!TB%3s`{rklLRo^>i<aon)w-088gG0L=mpf-fev5myZWXQ=~<
z9Z1VLC#8FZ^Gj?dOSJ&RsGXus6EF}5#>57~!fR_~QvjG4$jg~WnW;cp2w{jO!a^M^
zn+U+M6Q<0Zzi3%?X0$^B9qURY4aR{nfewW#0xTa7tEt6y3NbsdQip@$iwOjHV=S!V
zeT#M4v;*Rq%DUvN1Rfp~2uG;^;3%tkJD?~^KWgXqkjSP=T9(tfOz%hxV%48e$(EmL
zAG6%M;q#5s$E{WlJ`4$MdVKpyaUg~vgBEJvqpke{WMa`Z832U6r>Y{dyh?lpZ)P0#
zi%=AhH575A>J8d5&CqK;PHhyvr6ck(5*#2d!6@QL^{Yw1Jl?>aU~quAfHX<K7sCno
z5n;(9u6Zt;fM}Ysh-;q-Cm>FLvWU@nq;|6qY#n@?uy98$yWheH_&Nc~B3ADo4Az5a
zySSTSbO8qoID`NZKNwoT|0O^f*`waeAFKx-BS16kgErKz55WRr4igzTqdpWCEa1Ha
zi05L)SY5DycN3s&Bw_VnZvvDj>PFfKV;#IX;lZ#1BAzGdL8sf)%$q}!Q1o@CEPIc*
znykqy2|TDK9xUKxWDZ>)jOkKHVyaqgRm*VBRH6%+L+23>aAt6T=M$iuqLo#|^MV6x
zPk{V7_*rm(XA_{jlCV6uEI7c^39zibzOD|TQ8}w?@*pK-PcfGi=5C0S0eJl_z571E
z0o0g*j7t_zFWL}S@golm=-ZbA=w>!ba|$!Fn<BFx(w+~|invOVn%3$?>|)xIW-<J^
zSN=6(%(#!HP8BQm!L%L9I>U-Mj<`yYf(5uLL#f?J*5BgoAHkGdCLZv9Nm<2STiRxE
z#;%TAK#t{?lrjORXq6;fOj{y;YQoX~1I#UZZpAsq5k~9N&T4<^>1TJi5ZNh17HF*w
z=wjLu@hcN6_1~V`%oL?;Ko`@Nh?Xfdx%I1UHphr#Z7B>spo{rM#4BX}&bxcx+_U@T
zmvsK`b56{7O<EwlBW*dK?LimQmdIEZv;N2b!@6}5+cvCTRb5)Nq+re`GmY(p`T`Eq
z+L|iIHl=hkZ3#|jxkE9m_y;B*(O7`r<>1eE2o`tcOO!Y+T3(d^ORN)zvacy+ZVzM^
z#SsA7PkmV>%qArdvjEi|UYyMWP<aX!foLAH?$O%T+@1Av&X~>`5*D40rtcN<WG?pw
z2Do3{QY_XiFE_ygB8)?^tYWc!Mj~P>*_zW`?DUIcAXA<<4)mRY3lFrY1FEOYq@z81
z`f)P&EzQ830#s|8ZUG-+0E(}SL|7xtI_5ZIr#nEg`za3KcH<z62Qye4cen(^!<lj;
z5nGWuSqB|?GIqKI{2UflTd~+^90fpJo#UVxJQ+J&0<IxL>VWIaI=F7*7KmlAIPP!>
zhz<gEz*R_X#G00_lxs&I`%agDRj{O7#B~Oq5Muk+!-I-aE&;!|OWjmVRGCF=R>433
zn`OgPG!+wN#tHDCc_C3dPcyDL_R4|ZV#94553V#0PXRjVbJ*vyh!>JU)!GyjGH^BF
zK?fM8T`mD-oT73Oe}?P?3%Kb{vZxF=FU}_`mXo_2_PO+6Lk|w%%-{i|mv8{5S^*uy
zjWS*6&V$VYkvhsn{E-z<vFjcpss=K%7ZYO{@&Zva@)8WUj8HQR5w(;KcyuECH$z^G
zfi>un<)(I~CW(980KQEMROQ8pG(g83XY3@A`&A8O2$L%i2%{=5-p~VlSk-_N;7c4p
z%)}(K!)Tf$@mDv1&vF1?03c=r=K((L1`u&3s`BC=0K{zfJiyl#PnixS91}}8fDc>~
zPt5~7dA_O(G7-%l*3A8md&Hn)2oQ&OfW}Kf0b-&f9l*Es0qK)<j5^r6PaF`Sibj!?
z^U*_F*@;`!O~u5W7^;H?SY-f?RZMGx!%xv$-Be8A35%ZFCE!PjMj^ub>R~#i;LIB%
zZiO|mNdl@yazJFVVrJ6W<S$+wyio#fmw>8~91!_f8?af-AbC}BaV@OHi&*vCMiPVc
z$LhqGM>&93N<eZwtyLpAD5>T*u`qNk+Mshr*@K8XO0;6dNRDQbSfXkmtqzK{G)2Ea
z9E>_(Tg2Ex3#}9*IdIL%8WE5=yl+7i+tAI|j^xz=&pn4y#{m^1IRJRUS1{$UY_N}U
z$?$_@7{x=^-*F%K6bp+gg!FeDaCMqNOU|vEP@iilvK7AQ<dj;mun4d%#N&WN-uqzU
zv{?%lEiW#wsb6IuE=1K+SnTu8-~%t2i#?Uq1!>#j__s)!c4eAxu)8ADjMJVbyBLBt
zGM0K<sx&C;57FjA5~e+<SmttG=Z+oQoq4jc)}|wwV(RoMV@CXI=<`qi_2Gg2@9N*L
z&n?$qb4Ay7yW<tasve5h)m4|RT=v=gSyLyD8zCzr*|BHCCY1Uqegi7#p;g~IdR=$*
z1*Buusx{(tdt8Sw7Duh$Sx&34_>t0@ww0a^hscyY&Ld62`a>KKK++AsxT=_F_p2ke
zW*8LfaKZ6nAyf9;XH_fXj*QiDz<4rQ4w)hz;YklFUn#{e;K9N*oICzZbmktis5}9T
zI2wSFl`>mQJKD*~qH<J=I8p*ef(BHMY7yu{r&$bw22}nSk2vIq0kmJHvQ`&?!Pp<b
zgKGVJge@@M{sRE2pR&LgX29=d$O1JITuHK41dk7pDP<4tkr4sG0?MnZYMytYgi*u+
zdXNJszCHkhbs+}aVe}%vqVRfft31tYTM^nK-tc48!PQ$r3%CYBDf{W0wy3!Qoo85$
zqzPQILn1gp-14iQ2SpS`yoPST<%AWgCnuNbIDpk~Tv5sTm{>|1E)A=Sa{$W$7>N|c
z<b)Nf7F?#|0LuB^=#{mYm_uSN4XcWC02g7HL;`*iPQZmYQA@yy;RO7YuuMS22B?;i
z%XDN(`7|^2l#l~XAwJWC2wrgM8C7wzr0l^_=p2)EaCA5Uw_?Oy0wQ=p)deooktJ0R
zHjD8IKm;$iG^{Gl02H5~Z$^6Xxo`q*yeR>Qae7r3xJ*Zu)QcD;3lGY1dY6V(#TkHN
z+)v_wLEchx0M}ux4jv3CV6%A01Hj}slI-NpDCqRVl!oEKn0VL<nBF0eUny%DW-N)T
zCe1d7e;QUbeQS}C(#_)4-?l&h+_O7gaLE-{_vy808Yg5SChj!>$r^2p9Y1;coPs5V
zC6%>}P3yO8`|_LJd-o@X9-jQ!Z%;X+ZHLYs+MU<=+TOixy#0^;?|*nONxeB<4p-3@
zeaE-Oi`HC$5Q;MvOYTyeDQ~2<1Y(-04nFk6KQokQ?s&oGLPtQJ?#klGjXkd8$z)GG
z#(TgI>x%2^*Jn4$J2KG@h^T`{7tfqAdBVuy!-owW{MTn&^E4VKjH9{VFz@EhWPP~5
zW##=pKH8W?JLK0RzudNI{pyCA^5PYX7R;VD2_I*CZoPOnDqCby%G^j*Ah{(zFE3e|
z(u_184!EZmO#|w%H1GTF+pl(P-MFqPKEgLezLE2Hn(Jc~0VYSZlT9{m%t00HqRA9h
z-r<wNR%%mw)^2K>F?jn$nz;;-4jOMYla#GUtteh>1Mt;2U=80^uz)*53V2%qO-9l{
zzEB<qPZeDt9_%oa<~#zR@(^FZfW{~~%>b|@q(yAJPk{9VsPP??K#JHHPc!z^k*SP3
zkyKG;+X@D764gNf+UMNJMrGMgQWTHn=Ry{YDFhg$HUBh&aGN#$15T&YOf8wR$6e)j
z46el*H8;QFR0^_S%p$-VTH7ZDNu|oR1wg)3Hf@gk0XUZct7xrP#L5vIj`s8J1mLGM
zF&J*Q5Yx|GNa}086vqevKO?{jTJPovnrTT&dD;%Xc1QqlF#(p*n%_tut{lOk54emT
zn@Y&ke!dElQl7ShuN@L(!B|0n7?9A=KvG$6jWyIchyZXU@fFcpqqgfwIdEj%1wc4(
zg`O!rsjM^(2gpJTOh1URy0CiiK)Mvm576)d<zuHqwmsZMjysrc2TKaHJQxh%p)`?g
z$@~xl9!^i4rL#i}cqDZ!l+Fk-;88RUYw6Sw1OA*obXA7YPIfC6U+PHlnmAcFmOhaq
zKZ3*uMBfuziVY~g;e#7iwkewMM?;DaxQRaUjr&19pymaVg-Boz(0N7=5Yq#(v&F)b
z_gk%K+I!scvrUOFbfoxzr_rqPdVsTn0X&O5sMko=1_O8w0U}6>U&Nbrr1(YLQ5*2R
zU;xi2K=dr|J*ZVN_#W&+fasfH1F~LMXL2Qz6WFD?fHbF*Mz)fs)i%gPHv&ZW8{302
zERrpy#+6J(VBNI=n{=|3G_AHlCVJ9|8a=FRUx*<(QfgeuRAi!;HXx#H*x5>&R@)#G
zw-F$E`Prt#GdfagT**{q;!gSmjUFIE0@&F~npWE&6a5Gf137F{;t?GwHLheTGBH3K
z@PS|e2hu}{o(Jy<2Jk_8tiymdzli(kNF@tTZG%iastwpD7{I~w<gVvIRuqw%!!lBl
z51!TrydfA54x!E&Jr5=(B+AIPhdamz|I`NT7K{gn#-l#?t+;D2fWzqPyLv@@VK9Ji
zX#;i&25=<x0qb2!&I|@{bUf;VUk6(U12{Gw^}z>h6%62Xs)Ks>gU1E~*nY0=Gs!Q4
z0lc9=_p$S+U;r0TV2@VMf;b`=z?t!=4}K#-q&-`Td7UN`a|lqc`|Ut;`bVZoUUC8~
zqTx=hUKa7_fIhne@L+ceT0kc{FK0-NfLOj1PlCXVMUhCk79h`*UTOd?rJ<%!11_hS
zfG`6NqLHSRVFtukF$=>Ch^UX{VFskrU?jlT)|ic%JV%#egl=h^2bs3Ck`oxBK0*tK
z$QQa_1)%TO1T6;w5Me2y21Hm&r~&Cbhycv+7BRw7LJdegz_^*=dr-c9<Z}cj8VU8G
zYXOQa&;M(<>I}kKO_+q@fO<h6h)Ow;?|2p~0JUQ(aDD6;X25v_*f{_|8jaO^W<pF~
z*I)qk8p&h=>=F!MF_~gplCv~)VvDibh-}4F#CRlOTM{1xSH${&-PrjG(1T;hgV%-`
za3lfV5N5!k1bAzh0dW_3R{(%`9fC};EeTw~|I8NSHxg|?d}-`|{02nWo301p_Xm9j
zlmTqIfYS)@37-Mwr9=}@X6|nx29%k5HpGC^gD-~|P|Tz{I4sP7{~^HPAqJF1JSN0|
zvXP7nJD`2~7T$$SAvK;mHP3_6gVVz9!P#L4{50%<i^C3B7<NF78B7$Kt|bXtF%6W^
zf4(aqTg4Z%SXbDD5gKvV2F&_JBn8__N!$SLr)+7=V4}p8Oawq0tkd?O^4DaN7MUAv
z0hPZd!{kaPcMItATqI^EwVNXTGKf}e-Yg`Ys=NX3`#cwk=|MMu8Z($EJ3uCc7u*19
z%wQ5MpvDX)!2x0_6P`7V)NYCxlScX7h~*2$x^?jTAOK-R7jRz?fO{k$Vix%I<GUaL
zcewyW=KQXM;%j|C5ybn?a<U1{=scM@7hls>s#9W{^dS1{mC{=iiEl`1g3o0vFjayX
zRAIHPv@P()>L2|E#2mZ2fO47zzk@1POF*p<R<VO*eXoNJE&vf!;dj@EFvm$SW~5Z_
ztck?uB-O_6ItVn)Flw=ZWIOl`hzCw{st>Dkl(q$4LOI`WK-42M>O%?2nn)J0?|_S4
z0Defa?fv%P0ttwhA=oE0fs@k(egn=<0<ta1VTg;_V%A!ce_MPa0dcZnTN3d5<!rJ1
zP}US;k_6OyW9TK4z1nX;RCL`}nh^cg({I3cC18~Pvn|Owcr#nfT7dbt#XBwm`}hs`
zmITzBi)10m_VXL?H3_Kq=Hx_@z1MHR7bPHW8B(7Vh=1}UUj>nM@GpJ?V#*jZ3V8LZ
z)sr@_-Mpn}yZCa=#;rTP+O=n2@*@l>dg~U+K56|ew;l48M-9ZRQlvJ0F(-}cd`k~w
z;FbM*8w0<)EqVNa16v+;#L-6_-Kxz=r=4}~c^7u=cFpy-^tt<<2Ob&x%yX|$vg@W#
zo-wyzX;Eoqv~lf*E!%f~``upqMYCCq>(aB=9ew)`eCUb44SDgkxBi{fueMPfK?Ei(
z@;jsWcYyqv{5SH!<fh8T&@_KgC+P?ksT^tOg%anZE#ja*az31G?;Cc&KW9ssZGUBC
zWnsa*xzj%$KNeRKij}AT9dGJ>`6Zn@w)_35C$|3eu|NOm5r-OM#D07+Wc%jN*RG0I
zl@={sIB&+33Ga^{{>ISfpBenfU+(SK=hhpp?RM#f=bd}j=_j{ob=)tGI`XiV#z;Hh
zRhb|?uDYzt`5oGx@ymrzOdfKu@gG#f@9B#onG4C%+XnQ1O6D<X$YFQBUDg^;+oEh^
zJ_%cvEDF$pN$+dW|MA%qS<>rlQX|$8Gi6eMlU-=hx1U!Mfb>cZ{huCAK=d=yOHK5D
zZa4waQ*Qzmgcp#mb%ePj?0~+9N91h}&I!nOrU!iwk8rl1cW)A~GVDbh4Le|C*a6ps
z9dJX~0k?!5@Qbhm^1ncn_Y~$yg5-Hn;|nyN0OV7W1oS<ABOghY<4HjNI7AkW9`D8-
ztGt^DHz4k}JkGgS>P!!YcQTUr8!s3x@hZz6>p>W0B(f~LfO`QbKSASh&b?BH*pf&I
z-azw8qqllw;6bG1)9?cBga=FKg%@zU1e_IKz%3GRdUydbY#u3_5?;Wy5^z#@0Wkw>
zq#W<ldwY8DN}IqiU8F3;jRc=gF~=di%Con61Y#S_un+t2hPQ@vwFykBruhjPU7IX9
zfl+DA5p9+s-Nd2*fMs*&fAYCFK4y?lrNaoEhKR!mfUrcYH4EITMrxh~U}E`Z)4q*g
zeEH4pz5C<ip7MabiZ+W)FOU4sxQWwd&0n;<xV*Z)Y3&Y5m|{$*v#!@Y_WaOc!$-eA
zf$Y&zS`}@`c;Q3Lz*OdGOQhzxwBL?DEZLF}qN%52I?K*hZBCX$ke7D527B+d9I|X$
zGX>3J>_wKNax+r<zxG`Yzb(#@dPXJ39FKKKt-h<9T``8|(w9gjVk`13c0I$B0#_ur
zbT;g>afo4Ok(z}xl=#88v2VX4qbiD<6g1lbm*3sL?;X8*UVZr`?MeE01r6~e0}{0|
zK6q%W-C}3@&>l&dlNHOFmGN)iZmDj2#+RNm8gZJP1VelsKPD=WmjSk{+HIy+O7poG
zVITH%X}{Bj(hf0xGz*N<_s;{Eu22y$T}b<vKx^cMvY3E~OGzstZG_x{;xRIGpN0n!
z49pVC&5`w}7(|8!u`HP$M5G-{EGt6p1L8h1^f=3s35c){mRN3%tVadDx$+dtk_m|J
zH<nmdgxm*2A2KwAWhr35TL|za9^mabQ3vKh;xk_70p1ii;M+XF9)San<^f)r0Nl=!
z%iS2V9Yu|A_a4iTxHJJcjU|^2A@_a&9{DlLkhmxTxPT>>8zkFN02;jcLBx3pz=c5p
z@;o8VO#u2nBLTTpdT<fT6A&@agWs~`vK3<P{St5m%TNk1Fb_sF0a;?X9hLQ{^k6y5
zQp$t7SaMkzavqR?H7r9Zz#!sMBw&Lk;Chx^PDf=uC;?Zq45d7n@nD(NjQ#-$$n!)B
zFrybopChZJc<E5X;CUhi==-!Cge~L$d7elCe$A>HS)G*o0L<|`kpkS6TeUYwVUFjC
z6yP3j5OQmQIo|vrDZuY@tM=w7%<-yH3eX#ZJX&BbPZHbV6d*5SHZ{sW`GE9FMsSav
zF~o2vXGSJOD0+Z^d)a{df(6{o2HYb7F=7`)9h5N~ydwTKSU|*ZumHtZNkE<;%Stk_
z_<{{6qdw#(UIGE!%m$QEACb}-T*0JMSR3-ieV&Aj`iPWG3kYxx*N%V$%|`MuSCHj~
zWMY9Bj^r<u4P5C6upHx~D(PLO5w%=93BYkA7{EY@Knw>flX1Wb40i@_rj{`rY(Tmc
zSB?q@5HTEDfNuo^h!_qXz;Xm{1yRHWnt;U^j|~EFjwYbqw^><bB@+vFpdwl^HIj(d
zY#$ncWKOFNh8vK++o|^fV?7V@syd38UOo*sU=smG36z&LzWYc5{$QDry-oC0$4Ee@
z89a5e0L6TgKph02?^Bj)cu?M-5ue_N-1()<E@H8iJckpZ)_f^J01l1=1{9aV_n@4`
zgFF~oz{XBy5r-CVP8$;t4>PRx&#!-wKvxyZjJTU5&`1ITjIjabOe<jqya|!AVFtWB
z>_vP@*a16-9k3$-(#I>p+lt!}AZ}Pgdzv{j?!kbrB>eN>DPadBK3N9?y4{i<q~LGm
z3ngxUl7PHnQe_)y3CY}uf4{TW7O0*bSOU`5HRLUSZT56&M%?^>Lnw-M{KRRqKV4E-
zT2<GyZqv3ezqY-*V&SLMp8^n1b!!v>lTrMz<$7s((1D35+_LCelmN_f{0HB?7=Y-S
z4e4^b^k95~KQ7}HT`%g?q22FKJ3i7-7me0dS5=mml@u4PSh{%Og1Iw4nLP2s_r|>Q
z_OMr;E32)IM(gV8>l@&X<YKcIDJdx}EiEf6uc)Z3tg5cAsezO!QQXjorJ<p|zAjo@
vQ(aY2UP_bfMM#E(NTwVzRgkGQEj5@DQmQe{EZI*<RY)oO@g(B^kB$EW<4|5P

literal 0
HcmV?d00001

diff --git a/gazebo_sim/map/playground.yaml b/gazebo_sim/map/playground.yaml
new file mode 100644
index 0000000..bd22da1
--- /dev/null
+++ b/gazebo_sim/map/playground.yaml
@@ -0,0 +1,6 @@
+image: playground.pgm
+resolution: 0.050000
+origin: [-4.000000, -13.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
diff --git a/gazebo_sim/worlds/qt_pi_laser.world b/gazebo_sim/worlds/qt_pi_laser.world
new file mode 100644
index 0000000..be5f509
--- /dev/null
+++ b/gazebo_sim/worlds/qt_pi_laser.world
@@ -0,0 +1,2061 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='playground'>
+      <pose frame=''>-1.25415 -0.788564 0 0 -0 0</pose>
+      <link name='Wall_10'>
+        <collision name='Wall_10_Collision'>
+          <geometry>
+            <box>
+              <size>26.75 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_10_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>26.75 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>0.007886 -3.91706 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_11'>
+        <collision name='Wall_11_Collision'>
+          <geometry>
+            <box>
+              <size>8 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_11_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>8 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>13.3079 0.007941 0 0 -0 1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_12'>
+        <collision name='Wall_12_Collision'>
+          <geometry>
+            <box>
+              <size>26.75 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_12_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>26.75 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>0.007886 3.93294 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_21'>
+        <pose frame=''>-9.18476 0.019386 0 0 0 -1.5708</pose>
+        <visual name='Wall_21_Visual_0'>
+          <pose frame=''>-3.12221 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.75558 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_21_Collision_0'>
+          <geometry>
+            <box>
+              <size>1.75558 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-3.12221 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_21_Visual_1'>
+          <pose frame=''>0.438191 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.56521 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_21_Collision_1'>
+          <geometry>
+            <box>
+              <size>3.56521 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.438191 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_21_Visual_2'>
+          <pose frame=''>3.5604 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.879203 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_21_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.879203 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>3.5604 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_21_Visual_3'>
+          <pose frame=''>-1.79442 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_21_Collision_3'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-1.79442 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_21_Visual_4'>
+          <pose frame=''>2.6708 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_21_Collision_4'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.6708 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_23'>
+        <collision name='Wall_23_Collision'>
+          <geometry>
+            <box>
+              <size>4.25 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_23_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.25 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>-11.2579 -1.35252 0 0 -0 3.14159</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_25'>
+        <pose frame=''>-6.89009 -0.019386 0 0 0 -1.5708</pose>
+        <visual name='Wall_25_Visual_0'>
+          <pose frame=''>-2.05546 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.88908 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_25_Collision_0'>
+          <geometry>
+            <box>
+              <size>3.88908 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-2.05546 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_25_Visual_1'>
+          <pose frame=''>2.39454 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.21092 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_25_Collision_1'>
+          <geometry>
+            <box>
+              <size>3.21092 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.39454 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_25_Visual_2'>
+          <pose frame=''>0.339077 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_25_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.339077 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_27'>
+        <pose frame=''>-2.84009 1.17017 0 0 -0 0</pose>
+        <visual name='Wall_27_Visual_0'>
+          <pose frame=''>-2.27097 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.70805 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_27_Collision_0'>
+          <geometry>
+            <box>
+              <size>3.70805 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-2.27097 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_27_Visual_1'>
+          <pose frame=''>2.30403 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.64195 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_27_Collision_1'>
+          <geometry>
+            <box>
+              <size>3.64195 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.30403 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_27_Visual_2'>
+          <pose frame=''>0.033055 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_27_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.033055 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_33'>
+        <pose frame=''>1.21568 0.006434 0 0 -0 1.5708</pose>
+        <visual name='Wall_33_Visual_0'>
+          <pose frame=''>-2.30688 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.38624 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_33_Collision_0'>
+          <geometry>
+            <box>
+              <size>3.38624 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-2.30688 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_33_Visual_1'>
+          <pose frame=''>2.14312 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>3.71376 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_33_Collision_1'>
+          <geometry>
+            <box>
+              <size>3.71376 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.14312 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_33_Visual_2'>
+          <pose frame=''>-0.163762 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_33_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.163762 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_35'>
+        <collision name='Wall_35_Collision'>
+          <geometry>
+            <box>
+              <size>5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_35_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>3.62057 -1.58539 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_36'>
+        <pose frame=''>6.04557 -2.76039 0 0 0 -1.5708</pose>
+        <visual name='Wall_36_Visual_0'>
+          <pose frame=''>-0.84415 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.811701 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_36_Collision_0'>
+          <geometry>
+            <box>
+              <size>0.811701 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.84415 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_36_Visual_1'>
+          <pose frame=''>0.85585 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.788299 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_36_Collision_1'>
+          <geometry>
+            <box>
+              <size>0.788299 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.85585 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_36_Visual_2'>
+          <pose frame=''>0.011701 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_36_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.011701 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_38'>
+        <pose frame=''>3.40806 1.10972 0 0 -0 1.5708</pose>
+        <visual name='Wall_38_Visual_0'>
+          <pose frame=''>-2.20336 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.09329 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_38_Collision_0'>
+          <geometry>
+            <box>
+              <size>1.09329 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-2.20336 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_38_Visual_1'>
+          <pose frame=''>0.181127 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.87567 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_38_Collision_1'>
+          <geometry>
+            <box>
+              <size>1.87567 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.181127 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_38_Visual_2'>
+          <pose frame=''>2.38448 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.731036 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_38_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.731036 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.38448 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_38_Visual_3'>
+          <pose frame=''>-1.20671 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_38_Collision_3'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-1.20671 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_38_Visual_4'>
+          <pose frame=''>1.56896 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_38_Collision_4'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>1.56896 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_40'>
+        <collision name='Wall_40_Collision'>
+          <geometry>
+            <box>
+              <size>4.5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_40_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.5 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>5.60318 1.67301 0 0 -0 0</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_41'>
+        <pose frame=''>7.77818 2.72301 0 0 -0 1.5708</pose>
+        <visual name='Wall_41_Visual_0'>
+          <pose frame=''>-0.729206 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.791587 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_41_Collision_0'>
+          <geometry>
+            <box>
+              <size>0.791587 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.729206 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_41_Visual_1'>
+          <pose frame=''>0.845794 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.558413 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_41_Collision_1'>
+          <geometry>
+            <box>
+              <size>0.558413 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.845794 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_41_Visual_2'>
+          <pose frame=''>0.116587 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_41_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.116587 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_43'>
+        <pose frame=''>10.5278 0.085507 0 0 0 -0.523599</pose>
+        <visual name='Wall_43_Visual_0'>
+          <pose frame=''>-0.945166 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>4.60967 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_43_Collision_0'>
+          <geometry>
+            <box>
+              <size>4.60967 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.945166 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_43_Visual_1'>
+          <pose frame=''>2.75483 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.990333 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_43_Collision_1'>
+          <geometry>
+            <box>
+              <size>0.990333 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>2.75483 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_43_Visual_2'>
+          <pose frame=''>1.80967 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_43_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>1.80967 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_45'>
+        <pose frame=''>10.3472 -1.82517 0 0 0 -1.5708</pose>
+        <visual name='Wall_45_Visual_0'>
+          <pose frame=''>-0.985004 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>2.27999 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_45_Collision_0'>
+          <geometry>
+            <box>
+              <size>2.27999 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.985004 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_45_Visual_1'>
+          <pose frame=''>1.59 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.07001 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_45_Collision_1'>
+          <geometry>
+            <box>
+              <size>1.07001 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>1.59 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_45_Visual_2'>
+          <pose frame=''>0.604992 0 2.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <collision name='Wall_45_Collision_2'>
+          <geometry>
+            <box>
+              <size>0.9 0.15 0.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0.604992 0 2.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <link name='Wall_9'>
+        <collision name='Wall_9_Collision'>
+          <geometry>
+            <box>
+              <size>8 0.15 2.5</size>
+            </box>
+          </geometry>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Wall_9_Visual'>
+          <pose frame=''>0 0 1.25 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>8 0.15 2.5</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+        </visual>
+        <pose frame=''>-13.2921 0.007941 0 0 0 -1.5708</pose>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+      <static>1</static>
+    </model>
+    <model name='qt_pi_laser'>
+      <link name='chassis'>
+        <pose frame=''>0 0 0.1 0 -0 0</pose>
+        <inertial>
+          <mass>20</mass>
+          <pose frame=''>0.1 0 -0.05 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'>
+          <geometry>
+            <box>
+              <size>0.4 0.2 0.1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <box>
+              <size>0.4 0.2 0.1</size>
+            </box>
+          </geometry>
+        </visual>
+        <collision name='caster_collision'>
+          <pose frame=''>0.15 0 -0.05 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.05</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <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>
+            <friction>
+              <ode>
+                <mu>0</mu>
+                <mu2>0</mu2>
+                <slip1>1</slip1>
+                <slip2>1</slip2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='caster_visual'>
+          <pose frame=''>0.15 0 -0.05 0 -0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.05</radius>
+            </sphere>
+          </geometry>
+        </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_laser'>
+        <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>
\ No newline at end of file