From 85256670d189d9252859145fd45615a08e64c631 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 16 Apr 2020 07:52:04 -0700
Subject: [PATCH 1/6] Adding breadcrumbs to x1 config 7 & 8

---
 subt_ign/launch/cave_circuit.ign    | 34 +++++++++++++++++++++++++++--
 subt_ign/launch/cloudsim_bridge.ign |  4 ++--
 subt_ign/launch/cloudsim_sim.ign    | 25 ++++++++++++++++++---
 3 files changed, 56 insertions(+), 7 deletions(-)

diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index c807505d..327409c2 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -125,6 +125,7 @@
       <enabled>true</enabled>
       <!-- This path is used by cloudsim, please do not change -->
       <path>/tmp/ign/logs</path>
+      <overwrite>true</overwrite>
     </record>
     <%if defined?(seed) && seed != nil && !seed.empty?%>
     <seed><%= seed %></seed>
@@ -287,6 +288,10 @@
         <name>gas_4</name>
         <type>TYPE_GAS</type>
       </artifact>
+      <artifact>
+        <name>gas_5</name>
+        <type>TYPE_GAS</type>
+      </artifact>
     </plugin>
   </plugin>
 
@@ -362,6 +367,11 @@
           <title>Entity tree</title>
         </ignition-gui>
       </plugin> -->
+
+      <!-- Transform Control -->
+      <!-- <plugin filename="TransformControl" name="Transform Control">
+        <service>/world/<%= $worldName %>/gui/transform_mode</service>
+      </plugin> -->
     </plugin>
   </executable_wrapper>
   <%end%>
@@ -414,13 +424,18 @@
     if _config == "1" or _config == "2"
       laserScan=1
     end
-    if _config == "3" or _config == "4"
+    if _config == "3" or _config == "4" or _config == "7" or _config == "8"
       lidar3d=1
     end
     if _config == "5"
       stereoCam=1
     end
 
+    max_breadcrumbs = 0
+    if _config == "7" or _config == "8"
+      max_breadcrumbs = 12
+    end
+
     z = _z + 0.2
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
@@ -474,6 +489,21 @@
     "      <update_rate>10</update_rate>"\
     "      <type>gas</type>"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-breadcrumbs-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
+    "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
+    "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <breadcrumb>\n"\
+    "        <sdf version=\"1.6\">\n"\
+    "          <model name=\"#{_name}__breadcrumb__\">\n"\
+    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
+    "            </include>\n"\
+    "          </model>\n"\
+    "        </sdf>\n"\
+    "      </breadcrumb>\n"\
+    "    </plugin>\n"\
     "  </include>\n"\
     "  </sdf>\n"\
     "</plugin>\n"\
@@ -1018,7 +1048,7 @@
     posX = x + spawnWorldXPos
     posY = y + spawnWorldYPos
 
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign
index 49fd14a9..08a557dd 100644
--- a/subt_ign/launch/cloudsim_bridge.ign
+++ b/subt_ign/launch/cloudsim_bridge.ign
@@ -98,7 +98,7 @@
     if _config == "1" or _config == "2"
       laserScan=1
     end
-    if _config == "3" or _config == "4"
+    if _config == "3" or _config == "4" or _config == "7" or _config == "8"
       lidar3d=1
     end
     if _config == "5"
@@ -180,7 +180,7 @@
   robotNames.each_with_index do |name, i|
     config = robotConfigs[i]
     robotConfigN = config[-1]
-    if robotConfigs[i][1] == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotConfigs[i][1] == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
 %>
 <%=   spawnX1(robotNames[i], robotConfigs[i][-1]) %>
 <%  elsif robotConfigs[i][1] == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6") %>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 0d84ce32..a4f8901d 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -35,7 +35,7 @@
 
   # Check if circuit is not defined or is empty/nil
   if !defined?(circuit) || circuit == nil || circuit.empty?
-    $circuit = 'tunnel'
+    $circuit = 'cave'
   else
     $circuit = circuit
   end
@@ -80,7 +80,7 @@
 <%
   # Check if worldName is not defined or is empty/nil
   if !defined?(worldName) || worldName == nil || worldName.empty?
-    $worldName = 'tunnel_circuit_practice_01'
+    $worldName = 'simple_cave_01'
   else
     $worldName = worldName
   end
@@ -303,7 +303,6 @@
         <type>TYPE_PHONE</type>
       </artifact>
 
-
       <artifact>
         <name>rescue_randy_1</name>
         <type>TYPE_RESCUE_RANDY</type>
@@ -487,6 +486,11 @@
 
 <%
   def spawnX1(_name, _config, _x, _y, _z, _yaw)
+    max_breadcrumbs = 0
+    if _config == "7" or _config == "8"
+      max_breadcrumbs = 12
+    end
+
     z = _z + 0.2
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
@@ -540,6 +544,21 @@
     "      <update_rate>10</update_rate>"\
     "      <type>gas</type>"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-breadcrumbs-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
+    "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
+    "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <breadcrumb>\n"\
+    "        <sdf version=\"1.6\">\n"\
+    "          <model name=\"#{_name}__breadcrumb__\">\n"\
+    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
+    "            </include>\n"\
+    "          </model>\n"\
+    "        </sdf>\n"\
+    "      </breadcrumb>\n"\
+    "    </plugin>\n"\
     "  </include>\n"\
     "  </sdf>\n"\
     "</plugin>\n"

From c4d40017241e11ff06ea2e3dc124bbd64d382b27 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 16 Apr 2020 15:16:02 -0700
Subject: [PATCH 2/6] Added additional breadcrumbs

---
 docker/download_models.sh                     |    10 +-
 .../CMakeLists.txt                            |    13 +
 .../launch/description.launch                 |     6 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |    85 +
 .../launch/vehicle_topics.launch              |   111 +
 .../materials/textures/realsense_diffuse.png  |   Bin 0 -> 6451 bytes
 .../materials/textures/spotlight.png          |   Bin 0 -> 745884 bytes
 .../meshes/VLP16_base_1.dae                   |    89 +
 .../meshes/VLP16_base_2.dae                   |    89 +
 .../meshes/VLP16_scan.dae                     |    89 +
 .../meshes/base_link.dae                      |    99 +
 .../meshes/bumper.dae                         |   103 +
 .../meshes/jpl04_arch_nosensor.stl            |   Bin 0 -> 185434 bytes
 .../meshes/realsense.dae                      |  3094 +
 .../meshes/spotlight.dae                      |  2770 +
 .../meshes/top_chassis.dae                    |    99 +
 .../meshes/top_plate.dae                      |    99 +
 .../meshes/user_rail.dae                      |    99 +
 .../meshes/wheel.dae                          | 49570 ++++++++++++++++
 .../costar_husky_sensor_config_2/model.config |     9 +
 .../costar_husky_sensor_config_2/model.sdf    |   696 +
 .../costar_husky_sensor_config_2/package.xml  |    18 +
 .../thumbnails/1.png                          |   Bin 0 -> 33737 bytes
 .../thumbnails/2.png                          |   Bin 0 -> 21220 bytes
 .../thumbnails/3.png                          |   Bin 0 -> 21847 bytes
 .../thumbnails/4.png                          |   Bin 0 -> 31497 bytes
 .../thumbnails/5.png                          |   Bin 0 -> 25420 bytes
 .../urdf/husky_custom.orig.urdf               |   940 +
 .../urdf/robot_from_sdf.xacro                 |   269 +
 .../worlds/example.sdf                        |   183 +
 .../CMakeLists.txt                            |    13 +
 .../launch/description.launch                 |     6 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |    85 +
 .../launch/vehicle_topics.launch              |   202 +
 .../materials/textures/headlight.png          |   Bin 0 -> 930292 bytes
 .../materials/textures/led.png                |   Bin 0 -> 269395 bytes
 .../meshes/accessories/kinect.dae             |   165 +
 .../meshes/accessories/kinect.jpg             |   Bin 0 -> 45027 bytes
 .../meshes/accessories/kinect.tga             |   Bin 0 -> 47572 bytes
 .../meshes/chassis.dae                        | 16250 +++++
 .../meshes/headlight.dae                      |  6802 +++
 .../meshes/headlight_lamp.dae                 |    66 +
 .../meshes/led.dae                            |   529 +
 .../meshes/led_lamp.dae                       |    66 +
 .../meshes/sick-lms1xx-bracket.stl            |   Bin 0 -> 101284 bytes
 .../meshes/top_plate.dae                      |    99 +
 .../meshes/wheel.dae                          | 49570 ++++++++++++++++
 .../explorer_x1_sensor_config_2/model.config  |    11 +
 .../explorer_x1_sensor_config_2/model.sdf     |  1094 +
 .../explorer_x1_sensor_config_2/package.xml   |    18 +
 .../thumbnails/1.png                          |   Bin 0 -> 46605 bytes
 .../thumbnails/2.png                          |   Bin 0 -> 33806 bytes
 .../thumbnails/3.png                          |   Bin 0 -> 42297 bytes
 .../thumbnails/4.png                          |   Bin 0 -> 36489 bytes
 .../thumbnails/5.png                          |   Bin 0 -> 36250 bytes
 .../urdf/explorer_x1.orig.urdf                |  2494 +
 .../urdf/robot_from_sdf.xacro                 |   448 +
 .../worlds/example.sdf                        |   183 +
 subt_ign/launch/cave_circuit.ign              |    26 +-
 subt_ign/launch/cloudsim_bridge.ign           |     7 +-
 subt_ign/launch/cloudsim_sim.ign              |    24 +-
 63 files changed, 137028 insertions(+), 10 deletions(-)
 create mode 100644 submitted_models/costar_husky_sensor_config_2/CMakeLists.txt
 create mode 100644 submitted_models/costar_husky_sensor_config_2/launch/description.launch
 create mode 100644 submitted_models/costar_husky_sensor_config_2/launch/example.ign
 create mode 100644 submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
 create mode 100644 submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
 create mode 100644 submitted_models/costar_husky_sensor_config_2/materials/textures/realsense_diffuse.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/materials/textures/spotlight.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_1.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_2.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/VLP16_scan.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/base_link.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/bumper.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/jpl04_arch_nosensor.stl
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/realsense.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/spotlight.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/top_chassis.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/top_plate.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/user_rail.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/meshes/wheel.dae
 create mode 100644 submitted_models/costar_husky_sensor_config_2/model.config
 create mode 100644 submitted_models/costar_husky_sensor_config_2/model.sdf
 create mode 100644 submitted_models/costar_husky_sensor_config_2/package.xml
 create mode 100644 submitted_models/costar_husky_sensor_config_2/thumbnails/1.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/thumbnails/2.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/thumbnails/3.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/thumbnails/4.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/thumbnails/5.png
 create mode 100644 submitted_models/costar_husky_sensor_config_2/urdf/husky_custom.orig.urdf
 create mode 100644 submitted_models/costar_husky_sensor_config_2/urdf/robot_from_sdf.xacro
 create mode 100644 submitted_models/costar_husky_sensor_config_2/worlds/example.sdf
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/CMakeLists.txt
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/launch/description.launch
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/launch/example.ign
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/materials/textures/headlight.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/materials/textures/led.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.jpg
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.tga
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/chassis.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/headlight.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/headlight_lamp.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/led.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/led_lamp.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/sick-lms1xx-bracket.stl
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/top_plate.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/meshes/wheel.dae
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/model.config
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/model.sdf
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/package.xml
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/thumbnails/1.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/thumbnails/2.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/thumbnails/3.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/thumbnails/4.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/thumbnails/5.png
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/urdf/explorer_x1.orig.urdf
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/urdf/robot_from_sdf.xacro
 create mode 100644 submitted_models/explorer_x1_sensor_config_2/worlds/example.sdf

diff --git a/docker/download_models.sh b/docker/download_models.sh
index d8875953..d755e441 100755
--- a/docker/download_models.sh
+++ b/docker/download_models.sh
@@ -21,12 +21,18 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 3" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 4" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 5" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 6" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 7" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 8" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 3" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 4" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 5" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 6" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 7" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 8" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 9" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 3" -v 4
@@ -36,8 +42,6 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 3" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 4" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 5" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 6" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 7" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 5" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 6" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SSCI_X2_SENSOR_CONFIG_1" -v 4
@@ -45,7 +49,9 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/S
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SSCI_X4_SENSOR_CONFIG_2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/ROBOTIKA_X2_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/EXPLORER_X1_SENSOR_CONFIG_1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/EXPLORER_X1_SENSOR_CONFIG_2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/COSTAR_HUSKY_SENSOR_CONFIG_1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/COSTAR_HUSKY_SENSOR_CONFIG_2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SOPHISTICATED_ENGINEERING_X2_SENSOR_CONFIG_1" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SOPHISTICATED_ENGINEERING_X4_SENSOR_CONFIG_1" -v 4
 
diff --git a/submitted_models/costar_husky_sensor_config_2/CMakeLists.txt b/submitted_models/costar_husky_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..544cd61d
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(costar_husky_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes materials urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/description.launch b/submitted_models/costar_husky_sensor_config_2/launch/description.launch
new file mode 100644
index 00000000..d47ef0a4
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find costar_husky_sensor_config_2)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/example.ign b/submitted_models/costar_husky_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..a0e34efd
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
+
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..ea3148bb
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,85 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <plugin name="ignition::launch::GazeboFactory"
+          filename="libignition-launch-gazebo-factory.so">
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Diff drive -->
+      <plugin filename="libignition-gazebo-diff-drive-system.so"
+              name="ignition::gazebo::systems::DiffDrive">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
+        <wheel_radius>0.1651</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+      </plugin>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+      </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>78.4</initial_charge>
+        <capacity>78.4</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>6.6</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+      <plugin filename="libignition-gazebo-breadcrumbs-system.so"
+        name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>12</max_deployments>"
+        <breadcrumb>"
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-1.2 0 0 0 0 0</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>
+              </include>
+            </model>
+          </sdf>
+        </breadcrumb>
+      </plugin>
+    </include>
+    </sdf>
+  </plugin>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait costar_husky_sensor_config_2 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait costar_husky_sensor_config_2 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
new file mode 100644
index 00000000..98c19afc
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
@@ -0,0 +1,111 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <!--Front RGBD camera -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_camera"
+      args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="front/camera_info"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_camera"
+      args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="front/image_raw"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_rgbd"
+      args="$(arg sensor_prefix)/camera_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/camera_front/points" to="rgbd_camera/depth/points"/>
+    </node>
+    <node
+      pkg="ros_ign_image"
+      type="image_bridge"
+      name="ros_ign_image_depth"
+      args="$(arg sensor_prefix)/camera_front/depth_image">
+      <remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front/depth"/>
+    </node>
+
+    <!--Front Laser-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_lidar3d"
+      args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
+    </node>
+
+    <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_gpu_lidar_front_cliff"
+        args="$(arg sensor_prefix)/front_cliff_laser/scan@sensor_msgs/LaserScan[ignition.msgs.LaserScan">
+      <remap from="$(arg sensor_prefix)/front_cliff_laser/scan" to="front_cliff_scan"/>
+    </node>
+
+    <!--IMU-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+
+    <!-- Gas sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+  </group>
+</launch>
diff --git a/submitted_models/costar_husky_sensor_config_2/materials/textures/realsense_diffuse.png b/submitted_models/costar_husky_sensor_config_2/materials/textures/realsense_diffuse.png
new file mode 100644
index 0000000000000000000000000000000000000000..68d5fff46f42d1c3130c80de124d2437ca50c36f
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diff --git a/submitted_models/costar_husky_sensor_config_2/materials/textures/spotlight.png b/submitted_models/costar_husky_sensor_config_2/materials/textures/spotlight.png
new file mode 100644
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diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_1.dae b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_1.dae
new file mode 100644
index 00000000..d033ef37
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_1.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.55 0.55 0.55 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.55 0.55 0.55 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.55 0.55 0.55 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0DefaultMaterial" name="m0DefaultMaterial">
+      <instance_effect url="#m0DefaultMaterial-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="<STL_BINARY>" name="<STL_BINARY>">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="defaultMaterial" target="#m0DefaultMaterial" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_2.dae b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_2.dae
new file mode 100644
index 00000000..5ae0343c
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_base_2.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.55 0.55 0.55 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.55 0.55 0.55 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.55 0.55 0.55 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0DefaultMaterial" name="m0DefaultMaterial">
+      <instance_effect url="#m0DefaultMaterial-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
+        <source id="meshId0-positions" name="meshId0-positions">
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2594 2595 2596 2597 2598 2596 2598 2599 2600 2601 2602 2600 2602 2603 2604 2605 2606 2604 2606 2607 2608 2609 2610 2608 2610 2611 2612 2613 2614 2612 2614 2615 2616 2617 2618 2616 2618 2619 2620 2621 2622 2620 2622 2623 2624 2625 2626 2624 2626 2627 2628 2629 2630 2628 2630 2631 2632 2633 2634 2632 2634 2635 2636 2637 2638 2636 2638 2639 2640 2641 2642 2640 2642 2643 2644 2645 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 2657 2658 2656 2658 2659 2660 2661 2662 2660 2662 2663 2664 2665 2666 2664 2666 2667 2668 2669 2670 2668 2670 2671 2672 2673 2674 2672 2674 2675 2676 2677 2678 2676 2678 2679 2680 2681 2682 2680 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2690 2692 2693 2694 2695 2696 2694 2696 2697 2698 2699 2700 2698 2700 2701 2702 2703 2704 2702 2704 2705 2706 2707 2708 2706 2708 2709 2710 2711 2712 2710 2712 2713 2714 2715 2716 2714 2716 2717 2718 2719 2720 2718 2720 2721 2722 2723 2724 2722 2724 2725 2726 2727 2728 2726 2728 2729 2730 2731 2732 2730 2732 2733 2734 2735 2736 2734 2736 2737 2738 2739 2740 2738 2740 2741 </p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="<STL_BINARY>" name="<STL_BINARY>">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="defaultMaterial" target="#m0DefaultMaterial" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_scan.dae b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_scan.dae
new file mode 100644
index 00000000..56963288
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/VLP16_scan.dae
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Assimp</author>
+      <authoring_tool>Assimp Exporter</authoring_tool>
+    </contributor>
+    <created>2015-11-30T17:42:06</created>
+    <modified>2015-11-30T17:42:06</modified>
+    <unit name="meter" meter="1" />
+    <up_axis>Y_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1 0.1 0.1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.2 0.2 0.2 1</color>
+            </specular>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="m0DefaultMaterial" name="m0DefaultMaterial">
+      <instance_effect url="#m0DefaultMaterial-fx"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="meshId0" name="meshId0_name" >
+      <mesh>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
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+      <node id="<STL_BINARY>" name="<STL_BINARY>">
+        <matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#meshId0">
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+              <instance_material symbol="defaultMaterial" target="#m0DefaultMaterial" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene" />
+  </scene>
+</COLLADA>
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/base_link.dae b/submitted_models/costar_husky_sensor_config_2/meshes/base_link.dae
new file mode 100644
index 00000000..ee00c890
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/base_link.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:26:26</created>
+    <modified>2018-04-12T09:26:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
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+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1 0.1 0.1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.05 0.05 0.2239895 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Dark-material" name="Dark">
+      <instance_effect url="#Dark-effect"/>
+    </material>
+  </library_materials>
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+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Base_Link" name="Base_Link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Base_Link_001-mesh" name="Base_Link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Dark-material" target="#Dark-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/bumper.dae b/submitted_models/costar_husky_sensor_config_2/meshes/bumper.dae
new file mode 100644
index 00000000..e954d52b
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/bumper.dae
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:29:40</created>
+    <modified>2018-04-12T09:29:40</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Dark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1 0.1 0.1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.05 0.05 0.2239895 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Dark-material" name="Dark">
+      <instance_effect url="#Dark-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Bumper-mesh" name="Bumper">
+      <mesh>
+        <source id="Bumper-mesh-positions">
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1879 1026 1880 981 1880 980 1880 984 1881 986 1881 983 1881 983 1882 986 1882 1026 1882 983 1883 1026 1883 978 1883 978 1884 1026 1884 980 1884 978 1885 980 1885 979 1885 988 1886 1026 1886 989 1886 989 1887 1026 1887 986 1887 989 1888 986 1888 985 1888 992 1889 1026 1889 993 1889 993 1890 1026 1890 988 1890 993 1891 988 1891 987 1891 971 1536 970 1536 1025 1536 1025 1537 970 1537 977 1537 1025 1892 977 1892 990 1892 990 1893 977 1893 1026 1893 990 1894 1026 1894 992 1894 990 1895 992 1895 991 1895 961 1896 1019 1896 954 1896 950 1897 957 1897 1017 1897 950 1898 1017 1898 951 1898 954 1899 1018 1899 955 1899 955 1900 1017 1900 956 1900 956 1901 1017 1901 957 1901 951 1902 1017 1902 952 1902 1017 1903 953 1903 952 1903 943 1904 946 1904 1017 1904 1017 1905 946 1905 948 1905 1017 1906 948 1906 949 1906 1017 1907 949 1907 953 1907 945 1908 944 1908 1017 1908 943 1909 1017 1909 944 1909 945 1910 1017 1910 939 1910 939 1911 1017 1911 940 1911 937 1912 936 1912 1018 1912 1018 1913 936 1913 942 1913 1017 1914 942 1914 941 1914 1017 1915 941 1915 940 1915 938 1916 1019 1916 932 1916 932 1917 1019 1917 933 1917 937 1918 1019 1918 938 1918 933 1919 1019 1919 934 1919 1019 1920 889 1920 888 1920 893 1921 1019 1921 894 1921 894 1922 1019 1922 895 1922 895 1923 1019 1923 888 1923 1027 1924 893 1924 892 1924 892 1925 900 1925 1027 1925 1027 1926 900 1926 899 1926 1027 1573 899 1573 898 1573 934 1927 1020 1927 893 1927 934 1928 893 1928 1027 1928 934 1929 1027 1929 935 1929 935 1930 1027 1930 879 1930 897 1931 928 1931 898 1931 898 1932 928 1932 880 1932 898 1933 880 1933 1027 1933 1027 1934 880 1934 879 1934 1028 1935 896 1935 901 1935 901 1936 902 1936 1028 1936 1028 1937 902 1937 907 1937 1028 1938 907 1938 1029 1938 897 1939 896 1939 928 1939 928 1940 896 1940 1028 1940 928 1941 1028 1941 929 1941 929 1942 1028 1942 930 1942 907 1943 926 1943 1029 1943 1029 1944 926 1944 925 1944 1029 1592 925 1592 1028 1592 1028 1945 925 1945 931 1945 1028 1946 931 1946 930 1946 1030 1947 906 1947 903 1947 909 1948 913 1948 908 1948 908 1949 913 1949 1030 1949 908 1950 1030 1950 905 1950 905 1951 1030 1951 903 1951 905 1952 903 1952 904 1952 910 1953 916 1953 911 1953 911 1954 916 1954 1030 1954 911 1955 1030 1955 912 1955 912 1956 1030 1956 913 1956 919 1957 1030 1957 920 1957 920 1958 1030 1958 916 1958 920 1959 916 1959 914 1959 914 1960 916 1960 915 1960 922 1961 921 1961 927 1961 907 1962 906 1962 926 1962 926 1963 906 1963 1030 1963 926 1964 1030 1964 927 1964 927 1965 1030 1965 1031 1965 927 1966 1031 1966 922 1966 918 1967 917 1967 919 1967 919 1968 917 1968 924 1968 919 1969 924 1969 1030 1969 1030 1970 924 1970 923 1970 1030 1971 923 1971 1031 1971 1031 1972 923 1972 922 1972 885 1973 891 1973 1017 1973 1017 1974 887 1974 886 1974 1017 1975 886 1975 885 1975 889 1976 1017 1976 890 1976 890 1977 1017 1977 891 1977</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Bumper" name="Bumper" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Bumper-mesh" name="Bumper">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Dark-material" target="#Dark-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/jpl04_arch_nosensor.stl b/submitted_models/costar_husky_sensor_config_2/meshes/jpl04_arch_nosensor.stl
new file mode 100644
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diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/realsense.dae b/submitted_models/costar_husky_sensor_config_2/meshes/realsense.dae
new file mode 100644
index 00000000..15890b5d
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/realsense.dae
@@ -0,0 +1,3094 @@
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+              <param name="T" type="float"/>
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+          </technique_common>
+        </source>
+        <vertices id="pCube13-VERTEX">
+          <input semantic="POSITION" source="#pCube13-POSITION"/>
+        </vertices>
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diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/spotlight.dae b/submitted_models/costar_husky_sensor_config_2/meshes/spotlight.dae
new file mode 100644
index 00000000..6b6248a7
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/spotlight.dae
@@ -0,0 +1,2770 @@
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+          </technique_common>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Spotlight_Drone" name="Spotlight_Drone">
+      <node name="Spotlight_Drone" id="Spotlight_Drone" sid="Spotlight_Drone"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 -0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#Spotlight_Drone-lib"><bind_material><technique_common><instance_material symbol="Spotlight_Drone_ncl1_1" target="#Spotlight_Drone_ncl1_1"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Spotlight_Drone"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/top_chassis.dae b/submitted_models/costar_husky_sensor_config_2/meshes/top_chassis.dae
new file mode 100644
index 00000000..71f6298b
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/top_chassis.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:30:27</created>
+    <modified>2018-04-12T09:30:27</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Yellow-effect">
+      <profile_COMMON>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Top_Chassis" name="Top_Chassis" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Top_Chassis_001-mesh" name="Top_Chassis">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Yellow-material" target="#Yellow-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/top_plate.dae b/submitted_models/costar_husky_sensor_config_2/meshes/top_plate.dae
new file mode 100644
index 00000000..e76b1a3b
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/top_plate.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:31:19</created>
+    <modified>2018-04-12T09:31:19</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Dark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.08000001 0.08000001 0.08000001 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.025 0.025 0.025 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Dark-material" name="Dark">
+      <instance_effect url="#Dark-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Top_Plate-mesh" name="Top Plate">
+      <mesh>
+        <source id="Top_Plate-mesh-positions">
+          <float_array id="Top_Plate-mesh-positions-array" count="48">0.305 -0.295 0.006349921 -0.345 -0.295 0.006349921 0.305 -0.295 0 -0.345 -0.295 0 -0.365 -0.275 0 -0.365 0.275 0 -0.345 0.295 0 0.305 0.295 0 0.365 -0.235 0 0.365 0.235 0 0.305 0.295 0.006349921 -0.345 0.295 0.006349921 0.365 -0.235 0.006349921 0.365 0.235 0.006349921 -0.365 -0.275 0.006349921 -0.365 0.275 0.006349921</float_array>
+          <technique_common>
+            <accessor source="#Top_Plate-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Top_Plate-mesh-normals">
+          <float_array id="Top_Plate-mesh-normals-array" count="48">0 -1 0 0 0 -1 0 1 0 0 0 1 0 0 1 0 0 1 1 0 0 -1 0 0 -0.7071072 0.7071064 0 -0.7071059 0.7071077 0 -0.7071072 -0.7071064 0 -0.7071059 -0.7071077 0 0.707107 -0.7071066 0 0.7071066 -0.707107 0 0.707107 0.7071066 0 0.7071066 0.707107 0</float_array>
+          <technique_common>
+            <accessor source="#Top_Plate-mesh-normals-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Top_Plate-mesh-vertices">
+          <input semantic="POSITION" source="#Top_Plate-mesh-positions"/>
+        </vertices>
+        <triangles material="Dark-material" count="28">
+          <input semantic="VERTEX" source="#Top_Plate-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Top_Plate-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 3 1 3 1 5 1 6 1 3 1 6 1 2 1 2 1 6 1 7 1 2 1 7 1 8 1 8 1 7 1 9 1 7 2 6 2 10 2 10 2 6 2 11 2 12 3 13 3 0 3 0 3 13 3 10 3 1 3 0 3 14 3 14 4 0 4 10 4 14 5 10 5 15 5 15 3 10 3 11 3 8 6 9 6 12 6 12 6 9 6 13 6 5 7 4 7 15 7 15 7 4 7 14 7 15 8 11 8 5 8 5 9 11 9 6 9 4 10 3 10 14 10 14 11 3 11 1 11 2 12 8 12 0 12 0 13 8 13 12 13 10 14 13 14 7 14 7 15 13 15 9 15</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Top_Plate" name="Top_Plate" type="NODE">
+        <matrix sid="transform">1 0 0 -0.00133478 0 1 0 -0.00296879 0 0 1 4.3182e-5 0 0 0 1</matrix>
+        <instance_geometry url="#Top_Plate-mesh" name="Top_Plate">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Dark-material" target="#Dark-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/user_rail.dae b/submitted_models/costar_husky_sensor_config_2/meshes/user_rail.dae
new file mode 100644
index 00000000..bd8eede9
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/user_rail.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:31:48</created>
+    <modified>2018-04-12T09:31:48</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Dark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.1 0.1 0.1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.05 0.05 0.05 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Dark-material" name="Dark">
+      <instance_effect url="#Dark-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="User_Rail-mesh" name="User Rail">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="User_Rail" name="User_Rail" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#User_Rail-mesh" name="User_Rail">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Dark-material" target="#Dark-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/costar_husky_sensor_config_2/meshes/wheel.dae b/submitted_models/costar_husky_sensor_config_2/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T20:36:46Z</created><keywords></keywords><modified>2018-08-21T20:36:46Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="Tire" name="Tire">
+      <instance_effect url="#Tire-fx"/>
+    </material>
+    <material id="Rim" name="Rim">
+      <instance_effect url="#Rim-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="Tire-fx" name="Tire">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.039216  0.039216 0.039216 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.039216  0.039216 0.039216 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.297000  0.297000 0.297000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">6.062866</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Rim-fx" name="Rim">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.458824  0.458824 0.458824 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.458824  0.458824 0.458824 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.342000  0.342000 0.342000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="X1_Wheel-lib" name="X1_WheelMesh">
+      <mesh>
+        <source id="X1_Wheel-POSITION">
+          <float_array id="X1_Wheel-POSITION-array" count="18300">
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+</float_array>
+          <technique_common>
+            <accessor source="#X1_Wheel-UV0-array" count="7652" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="X1_Wheel-VERTEX">
+          <input semantic="POSITION" source="#X1_Wheel-POSITION"/>
+        </vertices>
+        <triangles count="2346" material="Tire"><input semantic="VERTEX" offset="0" source="#X1_Wheel-VERTEX"/><input semantic="NORMAL" offset="1" source="#X1_Wheel-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#X1_Wheel-UV0"/><p> 1901 28644 1901 4868 28645 4868 1900 28646 1900 4868 28647 4868 1901 28648 1901 4809 28649 4809 1904 28650 1904 4809 28651 4809 1901 28652 1901 4809 28653 4809 1904 28654 1904 4810 28655 4810 1905 28656 1905 4810 28657 4810 1904 28658 1904 4810 28659 4810 1905 28660 1905 4811 28661 4811 1906 28662 1906 4811 28663 4811 1905 28664 1905 4811 28665 4811 1906 28666 1906 4812 28667 4812 1907 28668 1907 4812 28669 4812 1906 28670 1906 4812 28671 4812 1907 28672 1907 4813 28673 4813 1910 28674 1910 4813 28675 4813 1907 28676 1907 4813 28677 4813 1910 28678 1910 4814 28679 4814 1911 28680 1911 4814 28681 4814 1910 28682 1910 4814 28683 4814 1911 28684 1911 4815 28685 4815 1912 28686 1912 4815 28687 4815 1911 28688 1911 4815 28689 4815 1912 28690 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28293 4745 4193 28294 4193 4061 28295 4061 4061 28296 4061 4193 28297 4193 4746 28298 4746 4061 28299 4061 4746 28300 4746 4079 28301 4079 4079 28302 4079 4746 28303 4746 4747 28304 4747 4079 28305 4079 4747 28306 4747 4749 28307 4749 4749 28308 4749 4747 28309 4747 4748 28310 4748 4749 28311 4749 4748 28312 4748 4077 28313 4077 4077 28314 4077 4748 28315 4748 4192 28316 4192 4077 28317 4077 4192 28318 4192 4075 28319 4075 4075 28320 4075 4192 28321 4192 4191 28322 4191 4075 28323 4075 4191 28324 4191 4076 28325 4076 4076 28326 4076 4191 28327 4191 4750 28328 4750 4076 28329 4076 4750 28330 4750 4074 28331 4074 4074 28332 4074 4750 28333 4750 4751 28334 4751 4074 28335 4074 4751 28336 4751 4752 28337 4752 4752 28338 4752 4751 28339 4751 4754 28340 4754 4752 28341 4752 4754 28342 4754 4753 28343 4753 4753 28344 4753 4754 28345 4754 4200 28346 4200 4753 28347 4753 4200 28348 4200 4073 28349 4073 4073 28350 4073 4200 28351 4200 4756 28352 4756 4073 28353 4073 4756 28354 4756 4755 28355 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4768 28418 4768 4069 28419 4069 4768 28420 4768 4769 28421 4769 4769 28422 4769 4768 28423 4768 4732 28424 4732 4769 28425 4769 4732 28426 4732 4068 28427 4068 3993 28428 3993 4303 28429 4303 4770 28430 4770 3993 28431 3993 4770 28432 4770 3992 28433 3992 3992 28434 3992 4770 28435 4770 4771 28436 4771 3992 28437 3992 4771 28438 4771 4772 28439 4772 4772 28440 4772 4771 28441 4771 4299 28442 4299 4772 28443 4772 4299 28444 4299 4773 28445 4773 4773 28446 4773 4299 28447 4299 4774 28448 4774 4773 28449 4773 4774 28450 4774 3991 28451 3991 3991 28452 3991 4774 28453 4774 4297 28454 4297 3991 28455 3991 4297 28456 4297 3985 28457 3985 3985 28458 3985 4297 28459 4297 4775 28460 4775 3985 28461 3985 4775 28462 4775 3983 28463 3983 3983 28464 3983 4775 28465 4775 4298 28466 4298 3983 28467 3983 4298 28468 4298 3984 28469 3984 3984 28470 3984 4298 28471 4298 4305 28472 4305 3984 28473 3984 4305 28474 4305 3978 28475 3978 3978 28476 3978 4305 28477 4305 4304 28478 4304 3978 28479 3978 4304 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4787 4786 28543 4786 4788 28544 4788 4787 28545 4787 4788 28546 4788 4135 28547 4135 4135 28548 4135 4788 28549 4788 4789 28550 4789 4135 28551 4135 4789 28552 4789 3987 28553 3987 3987 28554 3987 4789 28555 4789 4291 28556 4291 3987 28557 3987 4291 28558 4291 4790 28559 4790 4790 28560 4790 4291 28561 4291 4792 28562 4792 4790 28563 4790 4792 28564 4792 4791 28565 4791 4791 28566 4791 4792 28567 4792 4793 28568 4793 4791 28569 4791 4793 28570 4793 3986 28571 3986 3986 28572 3986 4793 28573 4793 4795 28574 4795 3986 28575 3986 4795 28576 4795 4794 28577 4794 4794 28578 4794 4795 28579 4795 4796 28580 4796 4794 28581 4794 4796 28582 4796 4797 28583 4797 4797 28584 4797 4796 28585 4796 4293 28586 4293 4797 28587 4797 4293 28588 4293 4798 28589 4798 4798 28590 4798 4293 28591 4293 4800 28592 4800 4798 28593 4798 4800 28594 4800 4799 28595 4799 4799 28596 4799 4800 28597 4800 4287 28598 4287 4799 28599 4799 4287 28600 4287 4801 28601 4801 4801 28602 4801 4287 28603 4287 4286 28604 4286 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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X1_Wheel" name="X1_Wheel">
+      <node name="X1_Wheel" id="X1_Wheel" sid="X1_Wheel"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X1_Wheel-lib"><bind_material><technique_common><instance_material symbol="Tire" target="#Tire"/><instance_material symbol="Rim" target="#Rim"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X1_Wheel"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/costar_husky_sensor_config_2/model.config b/submitted_models/costar_husky_sensor_config_2/model.config
new file mode 100644
index 00000000..322189b4
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<model>
+  <name>costar_husky_sensor_config_2</name>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>
+     CoSTAR's Husky UGV model with an RGBD camera, a medium range lidar, cliff sensor, and IMU
+  </description>
+</model>
+
diff --git a/submitted_models/costar_husky_sensor_config_2/model.sdf b/submitted_models/costar_husky_sensor_config_2/model.sdf
new file mode 100644
index 00000000..0afb22b9
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/model.sdf
@@ -0,0 +1,696 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.6">
+  <model name="costar_husky_sensor_config_2">
+    <link name="base_link">
+      <pose frame="">0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame="">-0.000543 -0.084945 0.062329 0 -0 0</pose>
+        <mass>46.064</mass>
+        <inertia>
+          <ixx>0.615397</ixx>
+          <ixy>-0.0240585</ixy>
+          <ixz>-0.120749</ixz>
+          <iyy>1.75388</iyy>
+          <iyz>-0.0028322</iyz>
+          <izz>2.03641</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose frame="">0 0 0.12 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9874 0.5709 0.05</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_bottom">
+        <pose frame="">0 0 0.046 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.80 0.5709 0.095</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose frame="">0 0 0.185625 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.78992 0.5709 0.12375</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__camera/camera_link_collision_2">
+        <pose frame="">0.488 0 0.272 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.0078 0.13 0.0192</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_plate_link_collision_3">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/top_plate.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_plate_link_collision_4">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.32 0.41 0.09</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__velodyne_base_link_collision_5">
+        <pose frame="">0.0012 0 0.71415 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.0717</length>
+            <radius>0.0516</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/base_link.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__camera/camera_link_visual_1">
+        <pose frame="">0.438 0 0.272 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/realsense.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__cliff_sensor_link_visual_2">
+        <pose frame="">0.435 0 0.235 -2.35619 -0 -1.5708</pose>
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__front_bumper_link_visual_3">
+        <pose frame="">0.48 0 0.091 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/bumper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__rear_bumper_link_visual_4">
+        <pose frame="">-0.48 0 0.091 0 -0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/bumper.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_chassis_link_visual_5">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/top_chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_plate_link_visual_6">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/top_plate.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__arch_visual_7">
+        <pose frame="">0.0012 0 0.251 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/jpl04_arch_nosensor.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>0.8 0.8 0.8 1</ambient>
+          <diffuse>0.45 0.45 0.45 1</diffuse>
+          <specular>0.8 0.8 0.8 1.0</specular>
+        </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__velodyne_base_link_visual_10">
+        <pose frame="">0.0012 0 0.6783 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__velodyne_base_link_visual_11">
+        <pose frame="">0.0012 0 0.6783 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__velodyne_visual_12">
+        <pose frame="">0.0012 0 0.6783 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__user_rail_link_visual_13">
+        <pose frame="">0.272 0 0.245 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/user_rail.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <sensor name="camera_front" type="rgbd_camera">
+        <camera name="camera_front">
+            <horizontal_fov>1.0472</horizontal_fov>
+            <lens>
+                <intrinsics>
+                    <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                    <fx>277.1</fx>
+                    <fy>277.1</fy>
+                    <!-- cx = ( width + 1 ) / 2 -->
+                    <cx>160.5</cx>
+                    <!-- cy = ( height + 1 ) / 2 -->
+                    <cy>120.5</cy>
+                    <s>0</s>
+                </intrinsics>
+            </lens>
+            <distortion>
+                <k1>0.0</k1>
+                <k2>0.0</k2>
+                <k3>0.0</k3>
+                <p1>0.0</p1>
+                <p2>0.0</p2>
+                <center>0.5 0.5</center>
+            </distortion>
+            <image>
+                <width>320</width>
+                <height>240</height>
+                <format>R8G8B8</format>
+            </image>
+            <clip>
+                <near>0.01</near>
+                <far>300</far>
+            </clip>
+            <depth_camera>
+              <clip>
+                <near>0.1</near>
+                <far>10</far>
+              </clip>
+            </depth_camera>
+            <noise>
+                <type>gaussian</type>
+                <mean>0</mean>
+                <stddev>0.007</stddev>
+            </noise>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <visualize>0</visualize>
+        <pose frame="">0.438 0 0.272 0 -0 0</pose>
+      </sensor>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="front_cliff_laser" type="gpu_ray">
+          <pose>0.435 0 0.235 0 -2.4434589 0</pose>
+          <update_rate>50</update_rate>
+          <lidar>
+              <scan>
+                  <horizontal>
+                      <samples>1</samples>
+                      <resolution>1</resolution>
+                      <min_angle>3.141592653589793</min_angle>
+                      <max_angle>3.141592653589793</max_angle>
+                  </horizontal>
+              </scan>
+              <range>
+                  <min>0.04</min>
+                  <max>40</max>
+                  <resolution>0.01</resolution>
+              </range>
+              <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.01</stddev>
+              </noise>
+          </lidar>
+      </sensor>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <sensor name="front_laser" type="gpu_lidar">
+        <visualize>0</visualize>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <!-- Resolution can't be above 16k, see
+              https://bitbucket.org/ignitionrobotics/ign-sensors/issues/8 -->
+              <samples>10000</samples>
+              <resolution>0.1</resolution>
+              <min_angle>-3.1459</min_angle>
+              <max_angle>3.1459</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>16</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.261799</min_angle>
+              <max_angle>0.261799</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>100</max>
+            <resolution>0.01</resolution>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+        <pose frame="">0.0012 0 0.716 0 -0 0</pose>
+      </sensor>
+      <light name="flashlight_flashlight_light_source_lamp_light" type="spot">
+        <pose frame="">0.48 0.08 0.12 3.141592653589793 1.5707926535897934 -0.0015926535897931</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.2</inner_angle>
+          <outer_angle>1.3</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <visual name="flashlight_flashlight_light_source_lamp_viz_visual">
+        <pose>0.48 0.08 0.12 3.141592653589793 1.5707926535897934 -0.0015926535897931</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.019</radius>
+            <length>0.005</length>
+          </cylinder>
+        </geometry>
+        <transparency>0</transparency>
+        <material>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
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+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
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+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
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+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
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+            <y>
+              <noise type="gaussian">
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+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
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+            <z>
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+                <stddev>1e-2</stddev>
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+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
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+        </imu>
+      </sensor>
+    </link>
+    <link name="front_left_wheel_link">
+      <pose frame="">0.256 0.2854 0.03282 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>2.637</mass>
+        <inertia>
+          <ixx>0.02467</ixx>
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+          <iyy>0.04411</iyy>
+          <iyz>0</iyz>
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+      </inertial>
+      <collision name="front_left_wheel_link_collision">
+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1143</length>
+            <radius>0.1651</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
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+              <kd>1</kd>
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+          <friction>
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+              <mu2>1</mu2>
+              <slip1>0.035</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
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+        </surface>
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+      <visual name="front_left_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
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+          <spring_stiffness>0</spring_stiffness>
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+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="front_right_wheel_link">
+      <pose frame="">0.256 -0.2854 0.03282 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>2.637</mass>
+        <inertia>
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+          <iyz>0</iyz>
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+      <collision name="front_right_wheel_link_collision">
+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
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+            <length>0.1143</length>
+            <radius>0.1651</radius>
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+              <kd>1</kd>
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+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
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+      <visual name="front_right_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="front_right_wheel_joint" type="revolute">
+      <child>front_right_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
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+        <inertia>
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+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1143</length>
+            <radius>0.1651</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
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+              <mu2>1</mu2>
+              <slip1>0.035</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_left_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <child>rear_left_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rear_right_wheel_link">
+      <pose frame="">-0.256 -0.2854 0.03282 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>2.637</mass>
+        <inertia>
+          <ixx>0.02467</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.04411</iyy>
+          <iyz>0</iyz>
+          <izz>0.02467</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_wheel_link_collision">
+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1143</length>
+            <radius>0.1651</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <kp>1e+07</kp>
+              <kd>1</kd>
+            </ode>
+          </contact>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.035</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="rear_right_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <child>rear_right_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <static>0</static>
+  </model>
+</sdf>
+
diff --git a/submitted_models/costar_husky_sensor_config_2/package.xml b/submitted_models/costar_husky_sensor_config_2/package.xml
new file mode 100644
index 00000000..1e68ee65
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>costar_husky_sensor_config_2</name>
+  <version>0.1.0</version>
+  <description>The costar_husky_sensor_config_2 package</description>
+
+  <maintainer email="addisu@openrobotics.org">Addisu Z. Taddese</maintainer>
+  <author email="leon.m.kim@jpl.nasa.gov">Leon Kim</author>
+  <author email="edward.terry@jpl.nasa.gov">Ed Terry</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+</package>
diff --git a/submitted_models/costar_husky_sensor_config_2/thumbnails/1.png b/submitted_models/costar_husky_sensor_config_2/thumbnails/1.png
new file mode 100644
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HcmV?d00001

diff --git a/submitted_models/costar_husky_sensor_config_2/urdf/husky_custom.orig.urdf b/submitted_models/costar_husky_sensor_config_2/urdf/husky_custom.orig.urdf
new file mode 100644
index 00000000..fdac72e0
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/urdf/husky_custom.orig.urdf
@@ -0,0 +1,940 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/developer/subt_ws/install/share/husky_description/urdf/husky.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Base link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.061875"/>
+      <geometry>
+        <box size="0.9874 0.5709 0.12375"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.185625"/>
+      <geometry>
+        <box size="0.78992 0.5709 0.12375"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Base footprint is on the ground under the robot -->
+  <link name="base_footprint"/>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.13228"/>
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+  </joint>
+  <!-- Interial link stores the robot's inertial information -->
+  <link name="inertial_link">
+    <inertial>
+      <mass value="46.034"/>
+      <origin xyz="-0.00065 -0.085 0.062"/>
+      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
+    </inertial>
+  </link>
+  <joint name="inertial_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="inertial_link"/>
+  </joint>
+  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+  <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 -1.5708 3.1416" xyz="0.19 0 0.149"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="imu_link">
+  </gazebo>
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+  </gazebo>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_left_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+  </gazebo>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_right_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+  </gazebo>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_left_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+  </gazebo>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_right_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Spawn Husky chassis -->
+  <link name="top_chassis_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/top_chassis.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- Attach chassis to the robot -->
+  <joint name="top_chassis_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_chassis_link"/>
+  </joint>
+  <!-- Spawn user rails -->
+  <link name="user_rail_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/user_rail.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- Attach user rails to base link -->
+  <joint name="user_rail" type="fixed">
+    <origin rpy="0 0 0" xyz="0.272 0 0.245"/>
+    <parent link="base_link"/>
+    <child link="user_rail_link"/>
+  </joint>
+  <!-- Spawn front bumper link -->
+  <link name="front_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/bumper.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- Attach front bumper -->
+  <joint name="front_bumper" type="fixed">
+    <origin rpy="0 0 0" xyz="0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="front_bumper_link"/>
+  </joint>
+  <!-- Spawn rear bumper link -->
+  <link name="rear_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/bumper.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- Attach rear bumper -->
+  <joint name="rear_bumper" type="fixed">
+    <origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="rear_bumper_link"/>
+  </joint>
+  <link name="top_plate_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/top_plate.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/top_plate.dae"/>
+      </geometry>
+    </collision>
+    <collision>
+      <!-- Extra collision tag for widgets on top plate -->
+      <geometry>
+        <box rpy="0 0 0" size="0.32 0.41 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Attach top plate -->
+  <joint name="top_plate_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_plate_link"/>
+    <origin rpy="0 0 0" xyz="0.0812 0 0.245"/>
+  </joint>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>husky_custom</robotNamespace>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
+      <robotNamespace>husky_custom</robotNamespace>
+      <updateRate>50.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>imu/data</topicName>
+      <accelDrift>0.005 0.005 0.005</accelDrift>
+      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
+      <rateDrift>0.005 0.005 0.005 </rateDrift>
+      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
+      <headingDrift>0.005</headingDrift>
+      <headingGaussianNoise>0.005</headingGaussianNoise>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libhector_gazebo_ros_gps.so" name="gps_controller">
+      <robotNamespace>husky_custom</robotNamespace>
+      <updateRate>40</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>base_link</frameId>
+      <topicName>navsat/fix</topicName>
+      <velocityTopicName>navsat/vel</velocityTopicName>
+      <referenceLatitude>49.9</referenceLatitude>
+      <referenceLongitude>8.9</referenceLongitude>
+      <referenceHeading>0</referenceHeading>
+      <referenceAltitude>0</referenceAltitude>
+      <drift>0.0001 0.0001 0.0001</drift>
+    </plugin>
+  </gazebo>
+  <!-- Arch -->
+  <link name="arch">
+    <visual>
+      <geometry>
+        <mesh filename="package://husky_custom_description/meshes/jpl04_arch_nosensor.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.15 0.15 0.15 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="top_plate_link_to_arch" type="fixed">
+    <parent link="top_plate_link"/>
+    <child link="arch"/>
+    <origin rpy="0 0 0" xyz="-0.08 0 0.006"/>
+  </joint>
+  <joint name="velodyne_base_mount_joint" type="fixed">
+    <origin rpy="0                  0                  0" xyz="0                  0                  0.4273"/>
+    <parent link="arch"/>
+    <child link="velodyne_base_link"/>
+  </joint>
+  <link name="velodyne_base_link">
+    <inertial>
+      <mass value="0.83"/>
+      <origin xyz="0 0 0.03585"/>
+      <inertia ixx="0.000908059425" ixy="0" ixz="0" iyy="0.000908059425" iyz="0" izz="0.0011049624"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://velodyne_description/meshes/VLP16_base_1.dae"/>
+      </geometry>
+    </visual>
+    <visual>
+      <geometry>
+        <mesh filename="package://velodyne_description/meshes/VLP16_base_2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.03585"/>
+      <geometry>
+        <cylinder length="0.0717" radius="0.0516"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="velodyne_base_scan_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.0377"/>
+    <parent link="velodyne_base_link"/>
+    <child link="velodyne"/>
+  </joint>
+  <link name="velodyne">
+    <inertial>
+      <mass value="0.01"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 -0.0377"/>
+      <geometry>
+        <mesh filename="package://velodyne_description/meshes/VLP16_scan.dae"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- Gazebo requires the velodyne_gazebo_plugins package -->
+  <gazebo reference="velodyne">
+    <sensor name="velodyne-VLP16" type="gpu_ray">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>10</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>440</samples>
+            <resolution>1</resolution>
+            <min_angle>-3.14159265359</min_angle>
+            <max_angle>3.14159265359</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>16</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.261799387799</min_angle>
+            <max_angle> 0.261799387799</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.3</min>
+          <max>131.0</max>
+          <resolution>0.001</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.0</stddev>
+        </noise>
+      </ray>
+      <plugin filename="libgazebo_ros_velodyne_gpu_laser.so" name="gazebo_ros_laser_controller">
+        <topicName>velodyne_points</topicName>
+        <frameName>velodyne</frameName>
+        <min_range>0.9</min_range>
+        <max_range>130.0</max_range>
+        <gaussianNoise>0.008</gaussianNoise>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <!-- Camera link -->
+  <link name="camera/camera_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://realsense_description/gazebo_realsense/models/realsense_camera/meshes/realsense.dae" scale="0.01 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0078 0.130 0.0192"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- <mass value="0.0615752"/> -->
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="9.108e-05" ixy="0" ixz="0" iyy="2.51e-06" iyz="0" izz="8.931e-05"/>
+    </inertial>
+  </link>
+  <!-- Connect camera to parent frame-->
+  <joint name="camera/realsense_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera/camera_link"/>
+    <origin rpy="0                  0                  0" xyz="0.488                  0                  0.272"/>
+  </joint>
+  <!-- Virtual links representing the cameras positons and orientations-->
+  <link name="camera/camera_color_frame"/>
+  <link name="camera/camera_depth_frame"/>
+  <link name="camera/camera_ir_frame"/>
+  <link name="camera/camera_ir2_frame"/>
+  <link name="camera/camera_color_optical_frame"/>
+  <link name="camera/camera_depth_optical_frame"/>
+  <link name="camera/camera_ir_optical_frame"/>
+  <link name="camera/camera_ir2_optical_frame"/>
+  <!-- Joints positioning the virtual links with respect to the camera main link-->
+  <joint name="camera/color_joint" type="fixed">
+    <parent link="camera/camera_link"/>
+    <child link="camera/camera_color_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0325 0.000"/>
+  </joint>
+  <joint name="camera/color_optical_joint" type="fixed">
+    <parent link="camera/camera_color_frame"/>
+    <child link="camera/camera_color_optical_frame"/>
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <joint name="camera/depth_joint" type="fixed">
+    <parent link="camera/camera_link"/>
+    <child link="camera/camera_depth_frame"/>
+    <!--origin xyz="0 -0.03 0.004" rpy="0 0 0"/-->
+    <origin rpy="0 0 0" xyz="0 0.0325 0.000"/>
+    <!-- aligned with rgb -->
+  </joint>
+  <joint name="camera/depth_optical_joint" type="fixed">
+    <parent link="camera/camera_depth_frame"/>
+    <child link="camera/camera_depth_optical_frame"/>
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <joint name="camera/ired1_joint" type="fixed">
+    <parent link="camera/camera_link"/>
+    <child link="camera/camera_ir_frame"/>
+    <!--origin xyz="0 -0.06 0.004" rpy="0 0 0"/-->
+    <origin rpy="0 0 0" xyz="0 0.0325 0.000"/>
+    <!-- aligned with rgb -->
+  </joint>
+  <joint name="camera/ired1_optical_joint" type="fixed">
+    <parent link="camera/camera_ir_frame"/>
+    <child link="camera/camera_ir_optical_frame"/>
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <joint name="camera/ired2_joint" type="fixed">
+    <parent link="camera/camera_link"/>
+    <child link="camera/camera_ir2_frame"/>
+    <!--origin xyz="0 0.01 0.004" rpy="0 0 0"/-->
+    <origin rpy="0 0 0" xyz="0 0.0325 0.000"/>
+    <!-- ligned with rgb -->
+  </joint>
+  <joint name="camera/ired2_optical_joint" type="fixed">
+    <parent link="camera/camera_ir2_frame"/>
+    <child link="camera/camera_ir2_optical_frame"/>
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+  </joint>
+  <!-- **********************************************************-->
+  <!-- GAZEBO DEFINITIONS ***************************************-->
+  <!-- Load plugin to the model ("robot" in urdf format)-->
+  <gazebo>
+    <plugin filename="librealsense_gazebo_plugin.so" name="realsense_plugin">
+      <robotNamespace>husky_custom</robotNamespace>
+      <cameraName>camera</cameraName>
+    </plugin>
+  </gazebo>
+  <!-- Load parameters to model's main link-->
+  <gazebo reference="camera/camera_link">
+    <self_collide>0</self_collide>
+    <enable_wind>0</enable_wind>
+    <kinematic>0</kinematic>
+    <gravity>1</gravity>
+    <!--<mu>1</mu>-->
+    <mu2>1</mu2>
+    <fdir1>0 0 0</fdir1>
+    <!--<slip1>0</slip1>
+        <slip2>0</slip2>-->
+    <kp>1e+13</kp>
+    <kd>1</kd>
+    <!--<max_vel>0.01</max_vel>
+        <min_depth>0</min_depth>-->
+    <sensor name="camera/color" type="camera">
+      <pose frame="">0 -0.046 0.004 0 0 0</pose>
+      <camera name="camera/rs200_camera">
+        <horizontal_fov>1.047</horizontal_fov>
+        <image>
+          <width>424</width>
+          <height>240</height>
+          <format>RGB_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <distortion>
+          <k1>0.0</k1>
+          <k2>0.0</k2>
+          <k3>0.0</k3>
+          <p1>0.0</p1>
+          <p2>0.0</p2>
+          <center>0.5 0.5</center>
+        </distortion>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>10</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+    <sensor name="camera/ired1" type="camera">
+      <pose frame="">0 -0.06 0.004 0 0 0</pose>
+      <camera name="camera/rs200_camera">
+        <horizontal_fov>1.047</horizontal_fov>
+        <image>
+          <width>424</width>
+          <height>240</height>
+          <format>L_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <distortion>
+          <k1>0.0</k1>
+          <k2>0.0</k2>
+          <k3>0.0</k3>
+          <p1>0.0</p1>
+          <p2>0.0</p2>
+          <center>0.5 0.5</center>
+        </distortion>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.05</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>10</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+    <sensor name="camera/ired2" type="camera">
+      <pose frame="">0 0.01 0.004 0 0 0</pose>
+      <camera name="camera/rs200_camera">
+        <horizontal_fov>1.047</horizontal_fov>
+        <image>
+          <width>424</width>
+          <height>240</height>
+          <format>L_INT8</format>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <distortion>
+          <k1>0.0</k1>
+          <k2>0.0</k2>
+          <k3>0.0</k3>
+          <p1>0.0</p1>
+          <p2>0.0</p2>
+          <center>0.5 0.5</center>
+        </distortion>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.05</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>10</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+    <sensor name="camera/depth" type="depth">
+      <pose frame="">0 -0.03 0.004 0 0 0</pose>
+      <camera name="camera/rs200_camera">
+        <horizontal_fov>1.047</horizontal_fov>
+        <image>
+          <width>424</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>100</far>
+        </clip>
+        <distortion>
+          <k1>0.0</k1>
+          <k2>0.0</k2>
+          <k3>0.0</k3>
+          <p1>0.0</p1>
+          <p2>0.0</p2>
+          <center>0.5 0.5</center>
+        </distortion>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.100</stddev>
+        </noise>
+      </camera>
+      <always_on>1</always_on>
+      <update_rate>10</update_rate>
+      <visualize>0</visualize>
+    </sensor>
+  </gazebo>
+  <!-- Ground truth pose -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
+      <robotNamespace>husky_custom</robotNamespace>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>50.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>ground_truth/odom</topicName>
+      <gaussianNoise>0.01</gaussianNoise>
+      <frameName>map</frameName>
+      <xyzOffsets>0 0 0</xyzOffsets>
+      <rpyOffsets>0 0 0</rpyOffsets>
+    </plugin>
+  </gazebo>
+  <link name="husky_custom/flashlight_flashlight_link">
+    <visual>
+      <origin rpy="0 0 -1.57" xyz="0 0.0 0"/>
+      <geometry>
+        :
+          
+        <mesh filename="package://subt_description/meshes/spotlight.dae" scale="0.005 0.005 0.005"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="flashlight_flashlight" type="fixed">
+    <parent link="arch"/>
+    <child link="husky_custom/flashlight_flashlight_link"/>
+    <origin rpy="0            0            3.14" xyz="0.43            0.08            0.02"/>
+  </joint>
+  <gazebo>
+    <model name="flashlight_flashlight">
+      <pose>0.43            0.08            0.02 0            0            3.14</pose>
+      <link name="light_source">
+        <pose>0 0 0 0.0 1.57079632679 0</pose>
+        <inertial>
+          <mass>0.0025</mass>
+          <inertia>
+            <ixx>1.0e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.0e-05</iyy>
+            <iyz>0</iyz>
+            <izz>1.0e-05</izz>
+          </inertia>
+        </inertial>
+        <light name="lamp" type="spot">
+          <range>15</range>
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <linear>0</linear>
+            <constant>0.05</constant>
+            <quadratic>0.0</quadratic>
+          </attenuation>
+          <diffuse>1.0 1.0 1.0 1</diffuse>
+          <specular>1.0 1.0 1.0 1</specular>
+          <spot>
+            <inner_angle>2.0</inner_angle>
+            <outer_angle>2.8</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="lamp">
+          <geometry>
+            <cylinder>
+              <radius>0.019</radius>
+              <length>0.005</length>
+            </cylinder>
+          </geometry>
+          <transparency>0.0</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>1.0 1.0 1.0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>lamp</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+      </link>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="flashlight_flashlight_joint" type="fixed">
+      <parent>arch</parent>
+      <child>flashlight_flashlight::light_source</child>
+    </joint>
+  </gazebo>
+  <link name="husky_custom/overhead_light_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="overhead_light_led" type="fixed">
+    <parent link="arch"/>
+    <child link="husky_custom/overhead_light_led_link"/>
+    <origin rpy="0            0            0" xyz="0            0            2.0"/>
+  </joint>
+  <gazebo>
+    <model name="overhead_light_led">
+      <pose>0            0            2.0 0            0            0</pose>
+      <link name="led_body">
+        <inertial>
+          <mass>0.00001</mass>
+          <inertia>
+            <ixx>1.0e-05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.0e-05</iyy>
+            <iyz>0</iyz>
+            <izz>1.0e-05</izz>
+          </inertia>
+        </inertial>
+        <visual name="marker">
+          <pose>0 0 0.008 0 0 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.015</radius>
+            </sphere>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>1.0 1.0 1.0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>marker</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <light name="marker" type="point">
+          <pose>0 0 0 0 3.14159265359 0</pose>
+          <range>20</range>
+          <attenuation>
+            <constant>0.05</constant>
+            <linear>0.02</linear>
+            <quadratic>0.02</quadratic>
+          </attenuation>
+          <diffuse>1.0 1.0 1.0 1</diffuse>
+          <specular>1.0 1.0 1.0 1</specular>
+        </light>
+      </link>
+      <!-- <plugin name='light_control' filename='libRosFlashLightPlugin.so'>
+          <service_name>enable</service_name>
+          <light>
+            <id>led_body/marker</id>
+            <xacro:insert_block name="plugin_params"/>
+            <enable>false</enable>
+          </light>
+        </plugin> -->
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="overhead_light_led_joint" type="fixed">
+      <parent>arch</parent>
+      <child>overhead_light_led::led_body</child>
+    </joint>
+  </gazebo>
+  <link name="evo_64px_link">
+    <visual>
+      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+      <geometry>
+        :
+          
+        <cylinder length="0.02" radius="0.005"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.000001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="evo_64px_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="evo_64px_link"/>
+    <origin rpy="0                  3.92699081699                  0" xyz="0.435                  0                  0.235"/>
+  </joint>
+  <!-- Virtual links representing the sensor positons and orientations-->
+  <link name="evo_64px_frame"/>
+  <!-- Joints positioning the virtual links with respect to the sensor main link-->
+  <joint name="evo_64px_virtual_joint" type="fixed">
+    <parent link="evo_64px_link"/>
+    <child link="evo_64px_frame"/>
+    <origin rpy="0 -3.1416018366025518 0" xyz="0 0 0"/>
+  </joint>
+  <gazebo reference="evo_64px_frame">
+    <sensor name="evo_64px" type="ray">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>0</visualize>
+      <update_rate>10</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>8</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.025</min_angle>
+            <max_angle>0.025</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>8</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.025</min_angle>
+            <max_angle>0.025</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.1</min>
+          <max>5.0</max>
+          <resolution>0.01</resolution>
+        </range>
+      </ray>
+      <plugin filename="libgazebo_ros_range.so" name="evo_64px_range">
+        <alwaysOn>true</alwaysOn>
+        <topicName>cliff_detector</topicName>
+        <frameName>evo_64px_link</frameName>
+        <gaussianNoise>0.005</gaussianNoise>
+        <fov>0.05</fov>
+        <radiation>INFRARED</radiation>
+      </plugin>
+    </sensor>
+  </gazebo>
+</robot>
+
+
diff --git a/submitted_models/costar_husky_sensor_config_2/urdf/robot_from_sdf.xacro b/submitted_models/costar_husky_sensor_config_2/urdf/robot_from_sdf.xacro
new file mode 100644
index 00000000..3863db28
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/urdf/robot_from_sdf.xacro
@@ -0,0 +1,269 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='costar_husky_sensor_config_2' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="costar_husky_sensor_config_2"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='-0.000543 -0.084945 0.062329' rpy='0 -0 0'/>
+      <mass value='46.064'/>
+      <inertia ixx='0.615397' ixy='-0.0240585' ixz='-0.120749' iyy='1.75388' iyz='-0.0028322' izz='2.03641'/>
+    </inertial>
+    <collision name='base_link_collision'>
+      <origin xyz='0 0 0.061875' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.9874 0.5709 0.12375'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_collision_1'>
+      <origin xyz='0 0 0.185625' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.78992 0.5709 0.12375'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__camera/camera_link_collision_2'>
+      <origin xyz='0.488 0 0.272' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.0078 0.13 0.0192'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__top_plate_link_collision_3'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/top_plate.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__top_plate_link_collision_4'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.32 0.41 0.09'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__velodyne_base_link_collision_5'>
+      <origin xyz='0.0012 0 0.71415' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.0516' length='0.0717'/>
+      </geometry>
+    </collision>
+    <visual name='base_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/base_link.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__camera/camera_link_visual_1'>
+      <origin xyz='0.438 0 0.272' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/realsense.dae'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__cliff_sensor_link_visual_2'>
+      <origin xyz='0.435 0 0.235' rpy='-2.35619 -0 -1.5708'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.02'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_bumper_link_visual_3'>
+      <origin xyz='0.48 0 0.091' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/bumper.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rear_bumper_link_visual_4'>
+      <origin xyz='-0.48 0 0.091' rpy='0 -0 3.14159'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/bumper.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__top_chassis_link_visual_5'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/top_chassis.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__top_plate_link_visual_6'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/top_plate.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__arch_visual_7'>
+      <origin xyz='0.0012 0 0.251' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/jpl04_arch_nosensor.stl' scale='1 1 1'/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.15 0.15 0.15 1"/>
+      </material>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_9'>
+      <origin xyz='0.0012 0 2.251' rpy='0 -0 0'/>
+      <geometry>
+        <sphere radius='0.0001'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__velodyne_base_link_visual_10'>
+      <origin xyz='0.0012 0 0.6783' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/VLP16_base_1.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__velodyne_base_link_visual_11'>
+      <origin xyz='0.0012 0 0.6783' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/VLP16_base_2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__velodyne_visual_12'>
+      <origin xyz='0.0012 0 0.6783' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/VLP16_scan.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__user_rail_link_visual_13'>
+      <origin xyz='0.272 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/user_rail.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='flashlight_flashlight_light_source_lamp_viz_visual'>
+      <origin xyz='0.415 0.08 0.02' rpy='3.14159 1.57079 -0.001593'/>
+      <geometry>
+        <cylinder radius='0.019' length='0.005'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='camera_front' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.438 0 0.272' rpy='0 -0 0'/>
+    <camera>
+      <image width='320' height='240' format='R8G8B8' hfov='1.047' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='front_cliff_laser' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.435 0 0.235' rpy='-3.14159 -0.785398 3.14159'/>
+    <ray>
+      <horizontal samples='1' resolution='1' min_angle='3.141592653589793' max_angle='3.141592653589793' />
+    </ray>
+  </sensor>
+  <sensor name='front_laser' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.0012 0 0.716' rpy='0 -0 0'/>
+    <ray>
+      <horizontal samples='440' resolution='1' min_angle='-3.14159' max_angle='3.14159' />
+      <vertical samples='16' resolution='1' min_angle='-0.261799' max_angle='0.261799' />
+    </ray>
+  </sensor>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <link name='${robot_namespace}/front_left_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='front_left_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.57079 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='front_left_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='front_right_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.57079 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='front_right_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='rear_left_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.57079 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='rear_left_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='rear_right_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.57079 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='rear_right_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://costar_husky_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.256 0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.256 -0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.256 0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.256 -0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>
diff --git a/submitted_models/costar_husky_sensor_config_2/worlds/example.sdf b/submitted_models/costar_husky_sensor_config_2/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/costar_husky_sensor_config_2/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/submitted_models/explorer_x1_sensor_config_2/CMakeLists.txt b/submitted_models/explorer_x1_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..c35d5035
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(explorer_x1_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes materials urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/description.launch b/submitted_models/explorer_x1_sensor_config_2/launch/description.launch
new file mode 100644
index 00000000..3a65cfb8
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find explorer_x1_sensor_config_2)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/example.ign b/submitted_models/explorer_x1_sensor_config_2/launch/example.ign
new file mode 100644
index 00000000..a0e34efd
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  require_relative 'spawner'
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+ 
+</ignition>
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..cec914fe
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,85 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <plugin name="ignition::launch::GazeboFactory"
+          filename="libignition-launch-gazebo-factory.so">
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Diff drive -->
+      <plugin filename="libignition-gazebo-diff-drive-system.so"
+              name="ignition::gazebo::systems::DiffDrive">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
+        <wheel_radius>0.1651</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+      </plugin>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+      </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>78.4</initial_charge>
+        <capacity>78.4</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>6.6</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->"
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+      <plugin filename="libignition-gazebo-breadcrumbs-system.so"
+        name="ignition::gazebo::systems::Breadcrumbs">
+        <topic>/model/#{_name}/breadcrumb/deploy</topic>
+        <max_deployments>12</max_deployments>"
+        <breadcrumb>"
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-1.2 0 0 0 0 0</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>
+              </include>
+            </model>
+          </sdf>
+        </breadcrumb>
+      </plugin>
+    </include>
+    </sdf>
+  </plugin>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait explorer_x1_sensor_config_2 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait explorer_x1_sensor_config_2 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
new file mode 100644
index 00000000..0c16d16b
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
@@ -0,0 +1,202 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="world_name"/>
+  <arg name="name"/>
+  <arg name="link_name" value="base_link"/>
+  <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_twist"
+      args="/model/$(arg name)/cmd_vel_relay@geometry_msgs/Twist]ignition.msgs.Twist">
+      <remap from="/model/$(arg name)/cmd_vel_relay" to="cmd_vel"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_odom"
+      args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
+      <remap from="/model/$(arg name)/odometry" to="odom"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <!--Front RGBD camera -->
+    <group ns="front_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/front_realsense/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/front_realsense/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/front_realsense/image">
+        <remap from="$(arg sensor_prefix)/front_realsense/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/front_realsense/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/front_realsense/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/front_realsense/depth_image">
+        <remap from="$(arg sensor_prefix)/front_realsense/depth_image" to="depth/image_raw"/>
+      </node>
+    </group>
+
+    <!--Left RGBD camera -->
+    <group ns="left_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/left_realsense/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/left_realsense/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/left_realsense/image">
+        <remap from="$(arg sensor_prefix)/left_realsense/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/left_realsense/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/left_realsense/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/left_realsense/depth_image">
+        <remap from="$(arg sensor_prefix)/left_realsense/depth_image" to="depth/image_raw"/>
+      </node>
+    </group>
+
+    <!--Rear RGBD camera -->
+    <group ns="rear_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rear_realsense/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rear_realsense/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rear_realsense/image">
+        <remap from="$(arg sensor_prefix)/rear_realsense/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rear_realsense/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rear_realsense/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rear_realsense/depth_image">
+        <remap from="$(arg sensor_prefix)/rear_realsense/depth_image" to="depth/image_raw"/>
+      </node>
+    </group>
+
+    <!--Right RGBD camera -->
+    <group ns="right_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/right_realsense/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/right_realsense/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/right_realsense/image">
+        <remap from="$(arg sensor_prefix)/right_realsense/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/right_realsense/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/right_realsense/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/right_realsense/depth_image">
+        <remap from="$(arg sensor_prefix)/right_realsense/depth_image" to="depth/image_raw"/>
+      </node>
+    </group>
+
+    <!--Front Laser-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_lidar3d"
+      args="$(arg sensor_prefix)/front_laser/scan/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+      <remap from="$(arg sensor_prefix)/front_laser/scan/points" to="points"/>
+    </node>
+
+
+    <!--IMU-->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_imu"
+      args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
+      <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
+    </node>
+
+    <!-- Gas sensor -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_gas"
+      args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
+      <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
+    </node>
+  </group>
+</launch>
diff --git a/submitted_models/explorer_x1_sensor_config_2/materials/textures/headlight.png b/submitted_models/explorer_x1_sensor_config_2/materials/textures/headlight.png
new file mode 100644
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.dae
new file mode 100644
index 00000000..70b9630d
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.dae
@@ -0,0 +1,165 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>DesignK</author>
+      <authoring_tool>OpenCOLLADA for 3ds Max;  Version: 1.3.1;  Revision: 847M;  Platform: x64;  Configuration: Release_Max2011_static</authoring_tool>
+      <source_data>file:///E:/Windows/Documents/3dsMax/scenes/KOBUKI_KINECT_URDF.max</source_data>
+    </contributor>
+    <created>2013-03-07T11:38:26</created>
+    <modified>2013-03-07T11:38:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_1_-_Default">
+      <profile_COMMON>
+        <newparam sid="kinect_jpg-surface">
+          <surface type="2D">
+            <init_from>kinect_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="kinect_jpg-sampler">
+          <sampler2D>
+            <source>kinect_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <blinn>
+            <emission>
+              <color>0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color>0.5882353 0.5882353 0.5882353 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="kinect_jpg-sampler" texcoord="CHANNEL1"/>
+            </diffuse>
+            <specular>
+              <color>0.9 0.9 0.9 1</color>
+            </specular>
+            <shininess>
+              <float>9.999999</float>
+            </shininess>
+            <reflective>
+              <color>0 0 0 1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>1</float>
+            </transparency>
+          </blinn>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="OpenCOLLADA3dsMax">
+          <extended_shader>
+            <apply_reflection_dimming>0</apply_reflection_dimming>
+            <dim_level>0</dim_level>
+            <falloff_type>0</falloff_type>
+            <index_of_refraction>1.5</index_of_refraction>
+            <opacity_type>0</opacity_type>
+            <reflection_level>3</reflection_level>
+            <wire_size>1</wire_size>
+            <wire_units>0</wire_units>
+          </extended_shader>
+          <shader>
+            <ambient_diffuse_lock>1</ambient_diffuse_lock>
+            <ambient_diffuse_texture_lock>1</ambient_diffuse_texture_lock>
+            <diffuse_specular_lock>0</diffuse_specular_lock>
+            <soften>0.1</soften>
+            <use_self_illum_color>0</use_self_illum_color>
+          </shader>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="_1_-_Default-material" name="_1_-_Default">
+      <instance_effect url="#_1_-_Default"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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2404 2674 3131 1646 1987 3182 1647 1992 3179 2403 2673 3129 1645 1969 3183 1646 1987 3182 2404 2674 3131 1645 1969 3183 2404 2674 3131 2405 2675 3133 1644 1968 3185 1645 1969 3183 2405 2675 3133 1644 1968 3185 2405 2675 3133 2406 2676 3155 1643 1967 3077 1644 1968 3185 2406 2676 3155 1643 1967 3077 2406 2676 3155 2374 2647 2406 1669 1982 2655 2413 2683 2684 2377 2654 2624 2412 2682 2654 2377 2654 2624 2413 2683 2684 1701 2015 3067 1695 2019 3074 2418 2684 3087 1669 1982 2655 1637 1983 2685 2413 2683 2684 2414 2685 2686 2413 2683 2684 1637 1983 2685 2415 2686 2687 2412 2682 2654 2413 2683 2684 2416 2687 2688 2415 2686 2687 2413 2683 2684 2414 2685 2686 2416 2687 2688 2413 2683 2684 1695 2019 3074 1696 2020 3076 2419 2688 3088 2420 2689 2689 2414 2685 2686 1637 1983 2685 2421 2690 2944 2420 2689 2945 1637 1983 2300 2421 2690 2944 1637 1983 2300 1638 1963 2280 1696 2020 3076 1712 1745 3075 2422 2691 3089 2423 1935 2235 2421 2690 2944 1638 1963 2280 2425 2692 2706 2376 1663 2522 2375 2648 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="EnvironmentAmbientLight" name="EnvironmentAmbientLight">
+      <technique_common>
+        <ambient>
+          <color>0 0 0</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_images>
+    <image id="kinect_jpg">
+      <init_from>kinect.jpg</init_from>
+    </image>
+  </library_images>
+  <library_visual_scenes>
+    <visual_scene id="MaxScene">
+      <node name="EnvironmentAmbientLight">
+        <instance_light url="#EnvironmentAmbientLight"/>
+      </node>
+      <node id="node-kinect_m" name="kinect_m">
+        <matrix>1 0 0 -1.2815e-6 0 -4.37114e-8 -1 -6.74684e-4 0 1 -4.37114e-8 -0.01760616 0 0 0 1</matrix>
+        <instance_geometry url="#geom-kinect_m">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_1_-_Default_1" target="#_1_-_Default-material">
+                <bind_vertex_input semantic="CHANNEL1" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#MaxScene"/>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.jpg b/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.jpg
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.tga b/submitted_models/explorer_x1_sensor_config_2/meshes/accessories/kinect.tga
new file mode 100644
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/chassis.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/chassis.dae
new file mode 100644
index 00000000..971a7068
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/chassis.dae
@@ -0,0 +1,16250 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T20:36:18Z</created><keywords></keywords><modified>2018-08-21T20:36:18Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
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+      <instance_effect url="#Metal_Yellow-fx"/>
+    </material>
+    <material id="Metal_Black" name="Metal_Black">
+      <instance_effect url="#Metal_Black-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
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+      <profile_COMMON>
+        <technique sid="standard">
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+            </emission>
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+            </ambient>
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+            </diffuse>
+            <specular>
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+            </specular>
+            <shininess>
+              <float sid="shininess">5.656854</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
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+            </reflectivity>
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+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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1927 11339 2192 1934 11340 2200 1908 11341 2168 989 11342 1217 989 11343 1217 1926 11344 2191 1934 11345 2200 1935 11346 2201 1909 11347 2169 997 11348 1133 997 11349 1133 1930 11350 2196 1935 11351 2201 1932 11352 2198 1906 11353 2166 1896 11354 2153 1896 11355 2153 1922 11356 2184 1932 11357 2198 1923 11358 2186 229 11359 1257 998 11360 1134 998 11361 1134 1931 11362 2197 1923 11363 2186 1929 11364 2195 994 11365 1130 1152 11366 1370 1152 11367 1370 1936 11368 2202 1929 11369 2195 1937 11370 2203 1911 11371 2171 1907 11372 2167 1907 11373 2167 1933 11374 2199 1937 11375 2203 1936 11376 2202 1152 11377 1370 1908 11378 2168 1908 11379 2168 1934 11380 2200 1936 11381 2202 1935 11382 2201 1065 11383 1220 1911 11384 2171 1911 11385 2171 1937 11386 2203 1935 11387 2201 221 11388 332 1919 11389 2181 1912 11390 2173 1912 11391 2173 1886 11392 2141 221 11393 332 1895 11394 2151 1921 11395 2183 1919 11396 2180 1919 11397 2180 221 11398 333 1895 11399 2151 1888 11400 2143 1914 11401 2175 1916 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2159 1926 11467 2190 1927 11468 2193 1927 11469 2193 1901 11470 2161 1900 11471 2159 1902 11472 2162 1928 11473 2194 1929 11474 2195 1929 11475 2195 1903 11476 2163 1902 11477 2162 1904 11478 2164 1930 11479 2196 1931 11480 2197 1931 11481 2197 998 11482 1134 1904 11483 2164 1906 11484 2166 1932 11485 2198 1928 11486 2194 1928 11487 2194 1902 11488 2162 1906 11489 2166 1901 11490 2160 1927 11491 2192 1933 11492 2199 1933 11493 2199 1907 11494 2167 1901 11495 2160 1063 11496 1216 1934 11497 2200 1926 11498 2191 1926 11499 2191 1900 11500 2158 1063 11501 1216 1065 11502 1220 1935 11503 2201 1930 11504 2196 1930 11505 2196 1904 11506 2164 1065 11507 1220 1001 11508 1137 1932 11509 2198 1922 11510 2184 1922 11511 2184 228 11512 1245 1001 11513 1137 1897 11514 2155 1923 11515 2186 1931 11516 2197 1931 11517 2197 1905 11518 2165 1897 11519 2155 1903 11520 2163 1929 11521 2195 1936 11522 2202 1936 11523 2202 1910 11524 2170 1903 11525 2163 1154 11526 1372 1937 11527 2203 1933 11528 2199 1933 11529 2199 1002 11530 1140 1154 11531 1372 1910 11532 2170 1936 11533 2202 1934 11534 2200 1934 11535 2200 1063 11536 1216 1910 11537 2170 1909 11538 2169 1935 11539 2201 1937 11540 2203 1937 11541 2203 1154 11542 1372 1909 11543 2169 1968 11544 2242 1942 11545 2209 30 11546 52 30 11547 52 1964 11548 2237 1968 11549 2242 1973 11550 2248 1947 11551 2216 32 11552 55 32 11553 55 1966 11554 2239 1973 11555 2248 1965 11556 2238 31 11557 54 33 11558 56 33 11559 56 1967 11560 2240 1965 11561 2238 1966 11562 2239 32 11563 55 62 11564 94 62 11565 94 1971 11566 2245 1966 11567 2239 1974 11568 2249 1948 11569 2217 1942 11570 2210 1942 11571 2210 1968 11572 2241 1974 11573 2249 1964 11574 2236 30 11575 53 52 11576 82 52 11577 82 1969 11578 2243 1964 11579 2236 1967 11580 2240 33 11581 56 53 11582 83 53 11583 83 1970 11584 2244 1967 11585 2240 1987 11586 2265 1961 11587 2232 1945 11588 2213 1945 11589 2213 1971 11590 2245 1987 11591 2265 1965 11592 2238 1939 11593 2206 70 11594 113 70 11595 113 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11788 2220 1953 11789 2224 1954 11790 2225 1980 11791 2257 1981 11792 2258 1981 11793 2258 965 11794 1099 1954 11795 2225 1956 11796 2227 1982 11797 2259 1983 11798 2260 1983 11799 2260 1957 11800 2228 1956 11801 2227 985 11802 1121 1984 11803 2261 1980 11804 2257 1980 11805 2257 1954 11806 2225 985 11807 1121 1957 11808 2228 1983 11809 2260 1985 11810 2262 1985 11811 2262 1959 11812 2230 1957 11813 2228 1952 11814 2223 1978 11815 2254 1986 11816 2263 1986 11817 2263 1960 11818 2231 1952 11819 2223 978 11820 1114 1982 11821 2259 1987 11822 2264 1987 11823 2264 1079 11824 1241 978 11825 1114 1946 11826 2215 1972 11827 2246 1981 11828 2258 1981 11829 2258 1955 11830 2226 1946 11831 2215 1145 11832 1363 1988 11833 2266 1979 11834 2256 1979 11835 2256 1953 11836 2224 1145 11837 1363 1149 11838 1367 1989 11839 2267 1984 11840 2261 1984 11841 2261 985 11842 1121 1149 11843 1367 1959 11844 2230 1985 11845 2262 1988 11846 2266 1988 11847 2266 1145 11848 1363 1959 11849 2230 1960 11850 2231 1986 11851 2263 1989 11852 2267 1989 11853 2267 1149 11854 1367 1960 11855 2231</p></triangles>
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10556 2023 1773 10557 2023 1772 10558 2022 1771 10559 2021 843 10560 2025 1774 10561 2024 1776 10562 2027 1776 10563 2027 1775 10564 2026 843 10565 2025 844 10566 2029 1777 10567 2028 1778 10568 2031 1778 10569 2031 845 10570 2030 844 10571 2029 1780 10572 2033 1779 10573 2032 1782 10574 2035 1782 10575 2035 1781 10576 2034 1780 10577 2033 1784 10578 2037 1783 10579 2036 1786 10580 2039 1786 10581 2039 1785 10582 2038 1784 10583 2037 1788 10584 2041 1787 10585 2040 1790 10586 2043 1790 10587 2043 1789 10588 2042 1788 10589 2041 1792 10590 2045 1791 10591 2044 1794 10592 2047 1794 10593 2047 1793 10594 2046 1792 10595 2045 1796 10596 2049 1795 10597 2048 1798 10598 2051 1798 10599 2051 1797 10600 2050 1796 10601 2049 1800 10602 2053 1799 10603 2052 1802 10604 2055 1802 10605 2055 1801 10606 2054 1800 10607 2053 1804 10608 2057 1803 10609 2056 1806 10610 2059 1806 10611 2059 1805 10612 2058 1804 10613 2057 1808 10614 2061 1807 10615 2060 1810 10616 2063 1810 10617 2063 1809 10618 2062 1808 10619 2061 1812 10620 2065 1811 10621 2064 1814 10622 2067 1814 10623 2067 1813 10624 2066 1812 10625 2065 1825 10626 2078 1824 10627 2077 1823 10628 2076 1826 10629 2079 1825 10630 2078 1823 10631 2076 1822 10632 2075 1821 10633 2074 1820 10634 2073 1823 10635 2076 1822 10636 2075 1820 10637 2073 1826 10638 2079 1823 10639 2076 1820 10640 2073 1819 10641 2072 1818 10642 2071 1817 10643 2070 1820 10644 2073 1819 10645 2072 1817 10646 2070 1826 10647 2079 1820 10648 2073 1817 10649 2070 1826 10650 2079 1817 10651 2070 1816 10652 2069 1815 10653 2068 1826 10654 2079 1816 10655 2069 858 10656 2081 1827 10657 2080 1770 10658 2020 1770 10659 2020 1771 10660 2021 858 10661 2081 1829 10662 2083 1828 10663 2082 1772 10664 2022 1772 10665 2022 1773 10666 2023 1829 10667 2083 1831 10668 2085 1830 10669 2084 1775 10670 2026 1775 10671 2026 1776 10672 2027 1831 10673 2085 1833 10674 2087 1832 10675 2086 845 10676 2030 845 10677 2030 1778 10678 2031 1833 10679 2087 1835 10680 2089 1834 10681 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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/headlight.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/headlight.dae
new file mode 100644
index 00000000..7861ff63
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/headlight.dae
@@ -0,0 +1,6802 @@
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+    </geometry>
+  </library_geometries>
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+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Spotlight"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/headlight_lamp.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/headlight_lamp.dae
new file mode 100644
index 00000000..29f8928a
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/headlight_lamp.dae
@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Wed Aug 22 18:10:33 2018 GMT</created>
+        <modified>Wed Aug 22 18:10:33 2018 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
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index 00000000..bffd407d
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/led_lamp.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/led_lamp.dae
new file mode 100644
index 00000000..9612ec2c
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/led_lamp.dae
@@ -0,0 +1,66 @@
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+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
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+    <scene>
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/sick-lms1xx-bracket.stl b/submitted_models/explorer_x1_sensor_config_2/meshes/sick-lms1xx-bracket.stl
new file mode 100644
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diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/top_plate.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/top_plate.dae
new file mode 100644
index 00000000..e76b1a3b
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/top_plate.dae
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2018-02-21, commit time:10:41, hash:8928d99270f</authoring_tool>
+    </contributor>
+    <created>2018-04-12T09:31:19</created>
+    <modified>2018-04-12T09:31:19</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Dark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.08000001 0.08000001 0.08000001 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.025 0.025 0.025 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Dark-material" name="Dark">
+      <instance_effect url="#Dark-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Top_Plate-mesh" name="Top Plate">
+      <mesh>
+        <source id="Top_Plate-mesh-positions">
+          <float_array id="Top_Plate-mesh-positions-array" count="48">0.305 -0.295 0.006349921 -0.345 -0.295 0.006349921 0.305 -0.295 0 -0.345 -0.295 0 -0.365 -0.275 0 -0.365 0.275 0 -0.345 0.295 0 0.305 0.295 0 0.365 -0.235 0 0.365 0.235 0 0.305 0.295 0.006349921 -0.345 0.295 0.006349921 0.365 -0.235 0.006349921 0.365 0.235 0.006349921 -0.365 -0.275 0.006349921 -0.365 0.275 0.006349921</float_array>
+          <technique_common>
+            <accessor source="#Top_Plate-mesh-positions-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Top_Plate-mesh-normals">
+          <float_array id="Top_Plate-mesh-normals-array" count="48">0 -1 0 0 0 -1 0 1 0 0 0 1 0 0 1 0 0 1 1 0 0 -1 0 0 -0.7071072 0.7071064 0 -0.7071059 0.7071077 0 -0.7071072 -0.7071064 0 -0.7071059 -0.7071077 0 0.707107 -0.7071066 0 0.7071066 -0.707107 0 0.707107 0.7071066 0 0.7071066 0.707107 0</float_array>
+          <technique_common>
+            <accessor source="#Top_Plate-mesh-normals-array" count="16" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Top_Plate-mesh-vertices">
+          <input semantic="POSITION" source="#Top_Plate-mesh-positions"/>
+        </vertices>
+        <triangles material="Dark-material" count="28">
+          <input semantic="VERTEX" source="#Top_Plate-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Top_Plate-mesh-normals" offset="1"/>
+          <p>0 0 1 0 2 0 2 0 1 0 3 0 4 1 5 1 3 1 3 1 5 1 6 1 3 1 6 1 2 1 2 1 6 1 7 1 2 1 7 1 8 1 8 1 7 1 9 1 7 2 6 2 10 2 10 2 6 2 11 2 12 3 13 3 0 3 0 3 13 3 10 3 1 3 0 3 14 3 14 4 0 4 10 4 14 5 10 5 15 5 15 3 10 3 11 3 8 6 9 6 12 6 12 6 9 6 13 6 5 7 4 7 15 7 15 7 4 7 14 7 15 8 11 8 5 8 5 9 11 9 6 9 4 10 3 10 14 10 14 11 3 11 1 11 2 12 8 12 0 12 0 13 8 13 12 13 10 14 13 14 7 14 7 15 13 15 9 15</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Top_Plate" name="Top_Plate" type="NODE">
+        <matrix sid="transform">1 0 0 -0.00133478 0 1 0 -0.00296879 0 0 1 4.3182e-5 0 0 0 1</matrix>
+        <instance_geometry url="#Top_Plate-mesh" name="Top_Plate">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Dark-material" target="#Dark-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/explorer_x1_sensor_config_2/meshes/wheel.dae b/submitted_models/explorer_x1_sensor_config_2/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="X1_Wheel" name="X1_Wheel">
+      <node name="X1_Wheel" id="X1_Wheel" sid="X1_Wheel"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#X1_Wheel-lib"><bind_material><technique_common><instance_material symbol="Tire" target="#Tire"/><instance_material symbol="Rim" target="#Rim"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#X1_Wheel"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/submitted_models/explorer_x1_sensor_config_2/model.config b/submitted_models/explorer_x1_sensor_config_2/model.config
new file mode 100644
index 00000000..dd2d688d
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/model.config
@@ -0,0 +1,11 @@
+<?xml version='1.0'?>
+<model>
+  <name>Explorer X1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    Team Explorer's X1 robot for SubT.
+  </description>
+</model>
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/model.sdf b/submitted_models/explorer_x1_sensor_config_2/model.sdf
new file mode 100644
index 00000000..63c53c35
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/model.sdf
@@ -0,0 +1,1094 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="explorer_x1_sensor_config_2">
+    <link name="base_link">
+      <pose frame="">0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame="">-0.000649 -0.084999 0.062001 0 -0 0</pose>
+        <mass>46.0344</mass>
+        <inertia>
+          <ixx>0.63323</ixx>
+          <ixy>-0.0236421</ixy>
+          <ixz>-0.119707</ixz>
+          <iyy>1.76965</iyy>
+          <iyz>-0.00154755</iyz>
+          <izz>2.06066</izz>
+        </inertia>
+      </inertial>
+      <collision name="base_link_collision">
+        <pose frame="">0 0 0.12 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9874 0.5709 0.05</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_bottom">
+        <pose frame="">0 0 0.046 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.80 0.5709 0.095</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_collision_1">
+        <pose frame="">0 0 0.185625 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.78992 0.5709 0.12375</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__front_realsense_link_collision_2">
+        <pose frame="">0.4 0 0.3 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.3 0.09</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__left_realsense_link_collision_3">
+        <pose frame="">0.3 0.2 0.3 0 -0 1.57</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.3 0.09</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__rear_realsense_link_collision_4">
+        <pose frame="">0.2 0 0.3 0 -0 3.14</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.3 0.09</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__right_realsense_link_collision_5">
+        <pose frame="">0.3 -0.2 0.3 0 0 -1.57</pose>
+        <geometry>
+          <box>
+            <size>0.07 0.3 0.09</size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode/>
+          </contact>
+          <friction>
+            <ode/>
+          </friction>
+        </surface>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_plate_link_collision_6">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/top_plate.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name="base_link_fixed_joint_lump__top_plate_link_collision_7">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.32 0.41 0.09</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="base_link_visual">
+        <pose frame="">0 0 0 0 -0 -3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/chassis.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__center_left_headlight_link_visual_1">
+        <pose frame="">0.485766 0.0844 0.06 0 -0 -3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__center_left_rear_headlight_link_visual_2">
+        <pose frame="">-0.485766 0.0844 0.06 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__center_right_headlight_link_visual_3">
+        <pose frame="">0.485766 -0.0844 0.06 0 -0 -3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__center_right_rear_headlight_link_visual_4">
+        <pose frame="">-0.485766 -0.0844 0.06 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__front_realsense_link_visual_5">
+        <pose frame="">0.4 0 0.3 0 -0 1.57079</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/accessories/kinect.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__lateral_left_front_headlight_link_visual_6">
+        <pose frame="">0.25 0.25 0.1 0 0 -1.57</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__lateral_left_rear_headlight_link_visual_7">
+        <pose frame="">-0.25 0.25 0.1 0 0 -1.57</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__lateral_right_front_headlight_link_visual_8">
+        <pose frame="">0.25 -0.25 0.1 0 -0 1.57</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__lateral_right_rear_headlight_link_visual_9">
+        <pose frame="">-0.25 -0.25 0.1 0 -0 1.57</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__left_headlight_link_visual_10">
+        <pose frame="">0.461459 0.216803 0.06 0 -0 -3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_11">
+        <pose frame="">0.066047 0.212211 0.209188 -3.14159 1.57079 -1.60259</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_12">
+        <pose frame="">-0.066047 0.212211 0.209188 -3.14159 1.57079 -1.60259</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__left_realsense_link_visual_13">
+        <pose frame="">0.3 0.2 0.3 0 -0 3.1408</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/accessories/kinect.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__left_rear_headlight_link_visual_14">
+        <pose frame="">-0.461459 0.216803 0.06 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_15">
+        <pose frame="">-0.42493 0 0.209188 3.14159 1.57079 7e-06</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_16">
+        <pose frame="">-0.42493 0.13619 0.209188 3.14159 1.57079 7e-06</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__rear_realsense_link_visual_17">
+        <pose frame="">0.2 0 0.3 0 -0 -1.57239</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/accessories/kinect.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_18">
+        <pose frame="">-0.42493 -0.13619 0.209188 3.14159 1.57079 7e-06</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__right_headlight_link_visual_19">
+        <pose frame="">0.461459 -0.216803 0.06 0 -0 -3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_20">
+        <pose frame="">0.066047 -0.212211 0.209188 3.14159 1.57079 1.60259</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__marker_visual_21">
+        <pose frame="">-0.066047 -0.212211 0.209188 3.14159 1.57079 1.60259</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/led.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__right_realsense_link_visual_22">
+        <pose frame="">0.3 -0.2 0.3 0 -0 0.000795</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/accessories/kinect.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__right_rear_headlight_link_visual_23">
+        <pose frame="">-0.461459 -0.216803 0.06 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/headlight.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__top_plate_link_visual_24">
+        <pose frame="">0.0812 0 0.245 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/top_plate.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__front_laser_mount_visual_25">
+        <pose frame="">0.2812 0 0.345 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/sick-lms1xx-bracket.stl</uri>
+          </mesh>
+          </geometry>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+      </visual>
+      <visual name="base_link_fixed_joint_lump__front_laser_visual_visual_26">
+        <pose frame="">0.2812 0 0.494 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.025</radius>
+          </cylinder>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+          </material>
+        </geometry>
+      </visual>
+      <velocity_decay/>
+      <sensor name="front_realsense" type="rgbd_camera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.0472</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>277.1</fx>
+              <fy>277.1</fy>
+                <!-- cx = ( width + 1 ) / 2 -->
+              <cx>160.5</cx>
+                <!-- cy = ( height + 1 ) / 2 -->
+              <cy>120.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <pose frame="">0.4 0 0.3 0 -0 0</pose>
+      </sensor>
+      <sensor name="left_realsense" type="rgbd_camera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_left">
+          <horizontal_fov>1.0472</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>277.1</fx>
+              <fy>277.1</fy>
+                <!-- cx = ( width + 1 ) / 2 -->
+              <cx>160.5</cx>
+                <!-- cy = ( height + 1 ) / 2 -->
+              <cy>120.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <pose frame="">0.3 0.2 0.3 0 -0 1.57</pose>
+      </sensor>
+      <velocity_decay/>
+      <sensor name="rear_realsense" type="rgbd_camera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_rear">
+          <horizontal_fov>1.0472</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>277.1</fx>
+              <fy>277.1</fy>
+                <!-- cx = ( width + 1 ) / 2 -->
+              <cx>160.5</cx>
+                <!-- cy = ( height + 1 ) / 2 -->
+              <cy>120.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <pose frame="">0.2 0 0.3 0 -0 3.14</pose>
+      </sensor>
+      <velocity_decay/>
+      <sensor name="right_realsense" type="rgbd_camera">
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_right">
+          <horizontal_fov>1.0472</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>277.1</fx>
+              <fy>277.1</fy>
+                <!-- cx = ( width + 1 ) / 2 -->
+              <cx>160.5</cx>
+                <!-- cy = ( height + 1 ) / 2 -->
+              <cy>120.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <distortion>
+            <k1>0.0</k1>
+            <k2>0.0</k2>
+            <k3>0.0</k3>
+            <p1>0.0</p1>
+            <p2>0.0</p2>
+            <center>0.5 0.5</center>
+          </distortion>
+          <image>
+            <width>320</width>
+            <height>240</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <depth_camera>
+            <clip>
+              <near>0.1</near>
+              <far>10</far>
+            </clip>
+          </depth_camera>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+        <pose frame="">0.3 -0.2 0.3 0 0 -1.57</pose>
+      </sensor>
+      <gravity>1</gravity>
+      <sensor name="front_laser" type="gpu_lidar">
+        <update_rate>15</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <!-- Resolution can't be above 16k, see
+              https://bitbucket.org/ignitionrobotics/ign-sensors/issues/8 -->
+              <samples>10000</samples>
+              <resolution>0.1</resolution>
+              <min_angle>-3.14159</min_angle>
+              <max_angle>3.14159</max_angle>
+            </horizontal>
+            <vertical>
+              <samples>16</samples>
+              <resolution>1</resolution>
+              <min_angle>-0.261799</min_angle>
+              <max_angle>0.261799</max_angle>
+            </vertical>
+          </scan>
+          <range>
+            <min>0.05</min>
+            <max>100</max>
+          </range>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.01</stddev>
+          </noise>
+        </lidar>
+        <pose frame="">0.2812 0 0.494 0 -0 0</pose>
+      </sensor>
+      <sensor name="imu_sensor" type="imu">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+                <dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>1e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+                <dynamic_bias_stddev>0.002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      <light name="left_headlight_body_light_source_light" type="spot">
+        <pose frame="">0.514147 0.216803 0.180 3.14159 1.56859 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>1.0 1.0 0.63 1</diffuse>
+        <specular>1.0 1.0 0.63 1</specular>
+        <spot>
+          <inner_angle>1</inner_angle>
+          <outer_angle>1.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="right_headlight_body_light_source_light" type="spot">
+        <pose frame="">0.514147 -0.216803 0.180 3.14159 1.56859 0</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>1.0 1.0 0.63 1</diffuse>
+        <specular>1.0 1.0 0.63 1</specular>
+        <spot>
+          <inner_angle>1</inner_angle>
+          <outer_angle>1.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="lateral_left_front_headlight_body_light_source_light" type="spot">
+        <pose frame="">0.2499796936688763 0.334 0.155 3.14159 1.56859 1.5715899999999998</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1</inner_angle>
+          <outer_angle>1.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="lateral_left_rear_headlight_body_light_source_light" type="spot">
+        <pose frame="">-0.2500203063311236 0.334 0.155 3.14159 1.56859 1.5715899999999998</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1</inner_angle>
+          <outer_angle>1.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="lateral_right_front_headlight_body_light_source_light" type="spot">
+        <pose frame="">0.2499796936688763 -0.334 0.155 3.14159 1.56859 -1.5715953071795865</pose>
+        <attenuation>
+          <range>50</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1</inner_angle>
+          <outer_angle>1.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="lateral_right_rear_headlight_body_light_source_light" type="spot">
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+      <light name="right_rear_headlight_body_light_source_light" type="spot">
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+      <collision name="front_left_wheel_link_collision">
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+        <geometry>
+          <cylinder>
+            <length>0.1143</length>
+            <radius>0.1651</radius>
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+        </geometry>
+        <surface>
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+              <slip2>0</slip2>
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+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
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+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel_link</child>
+      <parent>base_link</parent>
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+          <upper>1e+16</upper>
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+        </dynamics>
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+    </joint>
+    <link name="front_right_wheel_link">
+      <pose frame="">0.256 -0.2854 0.03282 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>2.637</mass>
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+            <radius>0.1651</radius>
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+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
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+      <velocity_decay/>
+    </link>
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+      <child>front_right_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
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+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
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+            <radius>0.1651</radius>
+          </cylinder>
+        </geometry>
+        <surface>
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+              <mu2>1</mu2>
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+      <visual name="rear_left_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
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+            <uri>meshes/wheel.dae</uri>
+          </mesh>
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+    <joint name="rear_left_wheel_joint" type="revolute">
+      <child>rear_left_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
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+        <limit>
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+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
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+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="rear_right_wheel_link">
+      <pose frame="">-0.256 -0.2854 0.03282 0 -0 0</pose>
+      <inertial>
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <mass>2.637</mass>
+        <inertia>
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+          <iyy>0.04411</iyy>
+          <iyz>0</iyz>
+          <izz>0.02467</izz>
+        </inertia>
+      </inertial>
+      <collision name="rear_right_wheel_link_collision">
+        <pose frame="">0 0 0 1.5707963267948966 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1143</length>
+            <radius>0.1651</radius>
+          </cylinder>
+        </geometry>
+        <surface>
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+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
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+            <ode>
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+          </contact>
+        </surface>
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+      <visual name="rear_right_wheel_link_visual">
+        <pose frame="">0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/wheel.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+    </link>
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <child>rear_right_wheel_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    <static>0</static>
+  </model>
+</sdf>
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/package.xml b/submitted_models/explorer_x1_sensor_config_2/package.xml
new file mode 100644
index 00000000..f259578c
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>explorer_x1_sensor_config_2</name>
+  <version>0.0.1</version>
+  <description>The explorer_x1_sensor_config_2 package</description>
+
+  <author email="caguero@openrobotics.org">Carlos Aguero</author>
+  <author email="cole@openrobotics.org">Cole Biesemeyer</author>
+  <maintainer email="caguero@openrobotics.org">Carlos Aguero</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <exec_depend>lms1xx</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+</package>
diff --git a/submitted_models/explorer_x1_sensor_config_2/thumbnails/1.png b/submitted_models/explorer_x1_sensor_config_2/thumbnails/1.png
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diff --git a/submitted_models/explorer_x1_sensor_config_2/urdf/explorer_x1.orig.urdf b/submitted_models/explorer_x1_sensor_config_2/urdf/explorer_x1.orig.urdf
new file mode 100644
index 00000000..18c8a873
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/urdf/explorer_x1.orig.urdf
@@ -0,0 +1,2494 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/developer/workspaces/model_checkout_ws/src/explorer/subt_robots/x1_description/urdf/x1.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+Software License Agreement (BSD)
+
+\file      x1.urdf.xacro
+\authors   Carlos Aguero <caguero@openrobotics.org>, Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<robot name="x1" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Base link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 3.1416" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/chassis.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0 0.061875"/>
+      <geometry>
+        <box size="0.9874 0.5709 0.12375"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.185625"/>
+      <geometry>
+        <box size="0.78992 0.5709 0.12375"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Base footprint is on the ground under the robot -->
+  <link name="base_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 -0.13228"/>
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+  </joint>
+  <!-- Interial link stores the robot's inertial information -->
+  <link name="inertial_link">
+    <inertial>
+      <mass value="46.034"/>
+      <origin xyz="-0.00065 -0.085 0.062"/>
+      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
+    </inertial>
+  </link>
+  <joint name="inertial_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="inertial_link"/>
+  </joint>
+  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+  <link name="imu_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="0 -1.5708 3.1416" xyz="0.19 0 0.149"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="imu_link">
+  </gazebo>
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_left_wheel_link">
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <collision>
+      <surface>
+        <friction>
+          <ode>
+            <mu>1.0</mu>
+            <mu2>1.0</mu2>
+            <fdir1>0 0 1</fdir1>
+            <slip1>1e-3</slip1>
+            <slip2>0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </gazebo>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_left_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_right_wheel_link">
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <collision>
+      <surface>
+        <friction>
+          <ode>
+            <mu>1.0</mu>
+            <mu2>1.0</mu2>
+            <fdir1>0 0 1</fdir1>
+            <slip1>1e-3</slip1>
+            <slip2>0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </gazebo>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_right_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_left_wheel_link">
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <collision>
+      <surface>
+        <friction>
+          <ode>
+            <mu>1.0</mu>
+            <mu2>1.0</mu2>
+            <fdir1>0 0 1</fdir1>
+            <slip1>1e-3</slip1>
+            <slip2>0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </gazebo>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_left_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/wheel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.1651"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_right_wheel_link">
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <collision>
+      <surface>
+        <friction>
+          <ode>
+            <mu>1.0</mu>
+            <mu2>1.0</mu2>
+            <fdir1>0 0 1</fdir1>
+            <slip1>1e-3</slip1>
+            <slip2>0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+  </gazebo>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_right_wheel">
+      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <!-- Spawn X1 chassis -->
+  <link name="top_chassis_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    </link>
+  <!-- Attach chassis to the robot -->
+  <joint name="top_chassis_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_chassis_link"/>
+  </joint>
+  <link name="top_plate_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/top_plate.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/top_plate.dae"/>
+      </geometry>
+    </collision>
+    <collision>
+      <!-- Extra collision tag for widgets on top plate -->
+      <geometry>
+        <box rpy="0 0 0" size="0.32 0.41 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Attach top plate -->
+  <joint name="top_plate_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_plate_link"/>
+    <origin rpy="0 0 0" xyz="0.0812 0 0.245"/>
+  </joint>
+  <!-- Top plate front link -->
+  <joint name="top_plate_front_joint" type="fixed">
+    <parent link="top_plate_link"/>
+    <child link="top_plate_front_link"/>
+    <origin rpy="0 0 0" xyz="0.24 0 0.00639"/>
+  </joint>
+  <!-- Top plate rear link-->
+  <joint name="top_plate_rear_joint" type="fixed">
+    <parent link="top_plate_link"/>
+    <child link="top_plate_rear_link"/>
+    <origin rpy="0 0 0" xyz="-0.36633 0 0.00639"/>
+  </joint>
+  <link name="top_plate_front_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <link name="top_plate_rear_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <link name="left_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="left_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_headlight_link"/>
+    <origin rpy="0 0 3.1416" xyz="0.461459  0.216803 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="left_headlight">
+      <pose>0.461459  0.216803 0.06 0 0 3.1416</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="left_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>left_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="center_left_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="center_left_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="center_left_headlight_link"/>
+    <origin rpy="0 0 3.1416" xyz="0.485766 0.0844 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="center_left_headlight">
+      <pose>0.485766 0.0844 0.06 0 0 3.1416</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="center_left_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>center_left_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="center_right_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="center_right_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="center_right_headlight_link"/>
+    <origin rpy="0 0 3.1416" xyz="0.485766 -0.0844 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="center_right_headlight">
+      <pose>0.485766 -0.0844 0.06 0 0 3.1416</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="center_right_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>center_right_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="right_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="right_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_headlight_link"/>
+    <origin rpy="0 0 3.1416" xyz="0.461459  -0.216803 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="right_headlight">
+      <pose>0.461459  -0.216803 0.06 0 0 3.1416</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="right_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>right_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="lateral_left_front_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="lateral_left_front_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="lateral_left_front_headlight_link"/>
+    <origin rpy="0 0 -1.57" xyz="0.25  0.25 0.1"/>
+  </joint>
+  <gazebo>
+    <model name="lateral_left_front_headlight">
+      <pose>0.25  0.25 0.1 0 0 -1.57</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="lateral_left_front_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>lateral_left_front_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="lateral_left_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="lateral_left_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="lateral_left_rear_headlight_link"/>
+    <origin rpy="0 0 -1.57" xyz="-0.25  0.25 0.1"/>
+  </joint>
+  <gazebo>
+    <model name="lateral_left_rear_headlight">
+      <pose>-0.25  0.25 0.1 0 0 -1.57</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="lateral_left_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>lateral_left_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="lateral_right_front_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="lateral_right_front_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="lateral_right_front_headlight_link"/>
+    <origin rpy="0 0 1.57" xyz="0.25  -0.25 0.1"/>
+  </joint>
+  <gazebo>
+    <model name="lateral_right_front_headlight">
+      <pose>0.25  -0.25 0.1 0 0 1.57</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="lateral_right_front_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>lateral_right_front_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="lateral_right_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="lateral_right_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="lateral_right_rear_headlight_link"/>
+    <origin rpy="0 0 1.57" xyz="-0.25  -0.25 0.1"/>
+  </joint>
+  <gazebo>
+    <model name="lateral_right_rear_headlight">
+      <pose>-0.25  -0.25 0.1 0 0 1.57</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="lateral_right_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>lateral_right_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="left_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="left_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_rear_headlight_link"/>
+    <origin rpy="0 0 0" xyz="-0.461459  0.216803 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="left_rear_headlight">
+      <pose>-0.461459  0.216803 0.06 0 0 0</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="left_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>left_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="center_left_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="center_left_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="center_left_rear_headlight_link"/>
+    <origin rpy="0 0 0" xyz="-0.485766 0.0844 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="center_left_rear_headlight">
+      <pose>-0.485766 0.0844 0.06 0 0 0</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="center_left_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>center_left_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="center_right_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="center_right_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="center_right_rear_headlight_link"/>
+    <origin rpy="0 0 0" xyz="-0.485766 -0.0844 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="center_right_rear_headlight">
+      <pose>-0.485766 -0.0844 0.06 0 0 0</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="center_right_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>center_right_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <link name="right_rear_headlight_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/headlight.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="right_rear_headlight" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_rear_headlight_link"/>
+    <origin rpy="0 0 0" xyz="-0.461459  -0.216803 0.06"/>
+  </joint>
+  <gazebo>
+    <model name="right_rear_headlight">
+      <pose>-0.461459  -0.216803 0.06 0 0 0</pose>
+      <link name="body">
+        <pose>-0.0005 0 0 0 0 0</pose>
+        <light name="light_source" type="spot">
+          <pose>-0.025 0 0.055 0 1.573 0</pose>
+          <attenuation>
+            <range>50</range>
+            <linear>0</linear>
+            <constant>0.1</constant>
+            <quadratic>0.0025</quadratic>
+          </attenuation>
+          <diffuse>0.8 0.8 0.5 1</diffuse>
+          <specular>0.8 0.8 0.5 1</specular>
+          <spot>
+            <inner_angle>1</inner_angle>
+            <outer_angle>1.1</outer_angle>
+            <falloff>1</falloff>
+          </spot>
+          <direction>0 0 -1</direction>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/headlight_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <enable>true</enable>
+          <duration>1</duration>
+          <interval>0</interval>
+          <color>1 1 1</color>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="right_rear_headlight" type="fixed">
+      <parent>base_link</parent>
+      <child>right_rear_headlight::body</child>
+    </joint>
+  </gazebo>
+  <!-- <xacro:headlight headlight_prefix="center_left"
+    xyz="0.485766 0.0844 0.124431" rpy="0 0 3.1416" />
+  <xacro:headlight headlight_prefix="center_right"
+    xyz="0.485766 -0.0844 0.124431" rpy="0 0 3.1416" />
+  <xacro:headlight headlight_prefix="right"
+    xyz="0.461459  -0.216803 0.124431" rpy="0 0 3.1416" />   -->
+  <link name="rear_right_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="rear_right_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="rear_right_led_link"/>
+    <origin rpy="0 1.573 3.1416" xyz="-0.42493 -0.13619 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="rear_right_led">
+      <pose>-0.42493 -0.13619 0.209188 0 1.573 3.1416</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <!-- TODO Flashing make rendering choppy. Re-enable when fixed -->
+            <!--interval>0.3</interval-->
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="rear_right_led" type="fixed">
+      <parent>base_link</parent>
+      <child>rear_right_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="rear_center_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="rear_center_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="rear_center_led_link"/>
+    <origin rpy="0 1.573 3.1416" xyz="-0.42493 0 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="rear_center_led">
+      <pose>-0.42493 0 0.209188 0 1.573 3.1416</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.1</duration>
+            <interval>0</interval>
+            <color>1 0 0</color>
+          </block>
+          <block>
+            <duration>0.1</duration>
+            <interval>0</interval>
+            <color>0 1 0</color>
+          </block>
+          <block>
+            <duration>0.1</duration>
+            <interval>0</interval>
+            <color>0 0 1</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="rear_center_led" type="fixed">
+      <parent>base_link</parent>
+      <child>rear_center_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="rear_left_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="rear_left_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="rear_left_led_link"/>
+    <origin rpy="0 1.573 3.1416" xyz="-0.42493 0.13619 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="rear_left_led">
+      <pose>-0.42493 0.13619 0.209188 0 1.573 3.1416</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="rear_left_led" type="fixed">
+      <parent>base_link</parent>
+      <child>rear_left_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="right_lateral_front_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="right_lateral_front_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_lateral_front_led_link"/>
+    <origin rpy="0 1.573 -1.539" xyz="0.066047 -0.212211 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="right_lateral_front_led">
+      <pose>0.066047 -0.212211 0.209188 0 1.573 -1.539</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="right_lateral_front_led" type="fixed">
+      <parent>base_link</parent>
+      <child>right_lateral_front_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="right_lateral_rear_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="right_lateral_rear_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_lateral_rear_led_link"/>
+    <origin rpy="0 1.573 -1.539" xyz="-0.066047 -0.212211 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="right_lateral_rear_led">
+      <pose>-0.066047 -0.212211 0.209188 0 1.573 -1.539</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="right_lateral_rear_led" type="fixed">
+      <parent>base_link</parent>
+      <child>right_lateral_rear_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="left_lateral_front_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="left_lateral_front_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_lateral_front_led_link"/>
+    <origin rpy="0 1.573 1.539" xyz="0.066047 0.212211 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="left_lateral_front_led">
+      <pose>0.066047 0.212211 0.209188 0 1.573 1.539</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="left_lateral_front_led" type="fixed">
+      <parent>base_link</parent>
+      <child>left_lateral_front_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="left_lateral_rear_led_link">
+    <visual name="marker">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://x1_description/meshes/led.dae"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="left_lateral_rear_led" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_lateral_rear_led_link"/>
+    <origin rpy="0 1.573 1.539" xyz="-0.066047 0.212211 0.209188"/>
+  </joint>
+  <gazebo>
+    <model name="left_lateral_rear_led">
+      <pose>-0.066047 0.212211 0.209188 0 1.573 1.539</pose>
+      <link name="body">
+        <pose>0 0 0.0005 0 0 0</pose>
+        <light name="light_source" type="point">
+          <pose>0 0 0 0 0 0</pose>
+          <attenuation>
+            <range>2.0</range>
+            <constant>0.5</constant>
+            <linear>0.10</linear>
+            <quadratic>0.5</quadratic>
+          </attenuation>
+          <diffuse>0 0 0 1</diffuse>
+          <specular>0 0 0 1</specular>
+        </light>
+        <visual name="light_source">
+          <geometry>
+            <mesh>
+              <uri>package://x1_description/meshes/led_lamp.dae</uri>
+            </mesh>
+          </geometry>
+          <transparency>1</transparency>
+          <material>
+            <ambient>1 1 1 1</ambient>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>1 1 1 1</specular>
+            <emissive>0 0 0 1</emissive>
+          </material>
+          <plugin filename="libLightVisualPlugin.so" name="light_source_visualize">
+            <light>
+              <id>light_source</id>
+              <visualize>false</visualize>
+            </light>
+          </plugin>
+        </visual>
+        <inertial>
+          <mass>0.000001</mass>
+          <inertia>
+            <ixx>0.001</ixx>
+            <ixy>0.0</ixy>
+            <iyy>0.001</iyy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+            <izz>0.001</izz>
+          </inertia>
+        </inertial>
+      </link>
+      <plugin filename="libRosFlashLightPlugin.so" name="light_control">
+        <service_name>enable</service_name>
+        <light>
+          <id>body/light_source</id>
+          <block>
+            <duration>0.3</duration>
+            <interval>0.0</interval>
+            <color>1 0.8</color>
+          </block>
+          <enable>false</enable>
+        </light>
+      </plugin>
+    </model>
+  </gazebo>
+  <gazebo>
+    <joint name="left_lateral_rear_led" type="fixed">
+      <parent>base_link</parent>
+      <child>left_lateral_rear_led::body</child>
+    </joint>
+  </gazebo>
+  <link name="front_laser_mount">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <!-- Origin of this mesh is the base of the bracket. -->
+        <mesh filename="package://jackal_description/meshes/sick-lms1xx-bracket.stl"/>
+      </geometry>
+      <material name="dark_grey"/>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="front_laser_joint" type="fixed">
+    <!-- This offset is from the base of the bracket to the LIDAR's focal point. -->
+    <origin rpy="0 0 0" xyz="0 0 0.149"/>
+    <parent link="front_laser_mount"/>
+    <child link="front_laser"/>
+  </joint>
+  <gazebo reference="front_laser_mount">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="front_laser">
+    <visual name="front_laser_visual">
+      <geometry>
+        <cylinder length="0.1" radius="0.025"/>
+      </geometry>
+      <material name="front_laser_visual_material">
+        <color rgba="0.5 1.0 0.5 1.0"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_laser">
+    <sensor name="front_laser_sensor" type="gpu_ray">
+      <update_rate>15</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>18000.0</samples>
+            <resolution>0.1</resolution>
+            <min_angle>-3.14159265359</min_angle>
+            <max_angle>3.14159265359</max_angle>
+          </horizontal>
+          <vertical>
+            <samples>16</samples>
+            <resolution>1</resolution>
+            <min_angle>-0.261799387799</min_angle>
+            <max_angle>0.261799387799</max_angle>
+          </vertical>
+        </scan>
+        <range>
+          <min>0.05</min>
+          <max>75</max>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin filename="libgazebo_ros_velodyne_gpu_laser.so" name="front_laser_plugin">
+        <topicName>points</topicName>
+        <frameName>front_laser</frameName>
+        <robotNamespace>/</robotNamespace>
+        <min_range>0.05</min_range>
+        <max_range>75</max_range>
+        <gaussianNoise>0.0</gaussianNoise>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="front_laser_mount_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2 0 0.1"/>
+    <parent link="top_plate_link"/>
+    <child link="front_laser_mount"/>
+  </joint>
+  <!--
+    <qvga_camera_and_mount />
+    <qvga_left_camera_and_mount />
+    <qvga_right_camera_and_mount />
+    <qvga_back_camera_and_mount />
+    -->
+  <link name="front_realsense_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/accessories/kinect.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.07 0.3 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_realsense_optical_joint" type="fixed">
+    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
+    <parent link="front_realsense_link"/>
+    <child link="front_realsense_frame_optical"/>
+  </joint>
+  <link name="front_realsense_frame_optical">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <gazebo reference="front_realsense_link">
+    <sensor name="front_realsense" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.04719666667</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_front_realsense_controller">
+        <cameraName>front_realsense</cameraName>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <frameName>front_realsense_frame_optical</frameName>
+        <baseline>0.1</baseline>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+        <pointCloudCutoff>0.6</pointCloudCutoff>
+        <pointCloudCutoffMax>8</pointCloudCutoffMax>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="front_realsense_mount_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.4 0 0.3"/>
+    <parent link="base_link"/>
+    <child link="front_realsense_link"/>
+  </joint>
+  <link name="rear_realsense_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/accessories/kinect.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.07 0.3 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rear_realsense_optical_joint" type="fixed">
+    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
+    <parent link="rear_realsense_link"/>
+    <child link="rear_realsense_frame_optical"/>
+  </joint>
+  <link name="rear_realsense_frame_optical">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <gazebo reference="rear_realsense_link">
+    <sensor name="rear_realsense" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.04719666667</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_rear_realsense_controller">
+        <cameraName>rear_realsense</cameraName>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <frameName>rear_realsense_frame_optical</frameName>
+        <baseline>0.1</baseline>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+        <pointCloudCutoff>0.6</pointCloudCutoff>
+        <pointCloudCutoffMax>8</pointCloudCutoffMax>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="rear_realsense_mount_joint" type="fixed">
+    <origin rpy="0 0 3.14" xyz="0.2 0 0.3"/>
+    <parent link="base_link"/>
+    <child link="rear_realsense_link"/>
+  </joint>
+  <link name="left_realsense_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/accessories/kinect.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.07 0.3 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_realsense_optical_joint" type="fixed">
+    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
+    <parent link="left_realsense_link"/>
+    <child link="left_realsense_frame_optical"/>
+  </joint>
+  <link name="left_realsense_frame_optical">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <gazebo reference="left_realsense_link">
+    <sensor name="left_realsense" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.04719666667</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_left_realsense_controller">
+        <cameraName>left_realsense</cameraName>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <frameName>left_realsense_frame_optical</frameName>
+        <baseline>0.1</baseline>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+        <pointCloudCutoff>0.6</pointCloudCutoff>
+        <pointCloudCutoffMax>8</pointCloudCutoffMax>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="left_realsense_mount_joint" type="fixed">
+    <origin rpy="0 0 1.57" xyz="0.4 0.4 0.3"/>
+    <parent link="base_link"/>
+    <child link="left_realsense_link"/>
+  </joint>
+  <link name="right_realsense_link">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.570795" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://husky_description/meshes/accessories/kinect.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.07 0.3 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_realsense_optical_joint" type="fixed">
+    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
+    <parent link="right_realsense_link"/>
+    <child link="right_realsense_frame_optical"/>
+  </joint>
+  <link name="right_realsense_frame_optical">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.00001"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+  </link>
+  <gazebo reference="right_realsense_link">
+    <sensor name="right_realsense" type="depth">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>1.04719666667</horizontal_fov>
+        <image>
+          <format>R8G8B8</format>
+          <width>320</width>
+          <height>240</height>
+        </image>
+        <clip>
+          <near>0.05</near>
+          <far>8.0</far>
+        </clip>
+      </camera>
+      <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_right_realsense_controller">
+        <cameraName>right_realsense</cameraName>
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <imageTopicName>rgb/image_raw</imageTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <frameName>right_realsense_frame_optical</frameName>
+        <baseline>0.1</baseline>
+        <distortion_k1>0.0</distortion_k1>
+        <distortion_k2>0.0</distortion_k2>
+        <distortion_k3>0.0</distortion_k3>
+        <distortion_t1>0.0</distortion_t1>
+        <distortion_t2>0.0</distortion_t2>
+        <pointCloudCutoff>0.6</pointCloudCutoff>
+        <pointCloudCutoffMax>8</pointCloudCutoffMax>
+        <robotNamespace>/</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <joint name="right_realsense_mount_joint" type="fixed">
+    <origin rpy="0 0 -1.57" xyz="0.4 -0.4 0.3"/>
+    <parent link="base_link"/>
+    <child link="right_realsense_link"/>
+  </joint>
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace></robotNamespace>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
+      <robotNamespace></robotNamespace>
+      <updateRate>50.0</updateRate>
+      <!--TODO: The frame id and body name need the namespace-->
+      <frameId>base_link</frameId>
+      <bodyName>base_link</bodyName>
+      <topicName>imu/data</topicName>
+      <accelDrift>0.005 0.005 0.005</accelDrift>
+      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
+      <rateDrift>0.005 0.005 0.005 </rateDrift>
+      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
+      <headingDrift>0.005</headingDrift>
+      <headingGaussianNoise>0.005</headingGaussianNoise>
+    </plugin>
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>50.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>ground_truth/state</topicName>
+      <gaussianNoise>0.01</gaussianNoise>
+      <frameName>world</frameName>
+      <xyzOffsets>0 0 0</xyzOffsets>
+      <rpyOffsets>0 0 0</rpyOffsets>
+    </plugin>
+  </gazebo>
+  <!-- This file is a placeholder which is included by default from
+       x1.urdf.xacro. If a robot is being customized and requires
+       additional URDF, set the X1_URDF_EXTRAS environment variable
+       to the full path of the file you would like included. -->
+  <!-- <xacro:include filename="$(find subt_x1_description)/urdf/ground_truth_generator.urdf.xacro" /> -->
+  <!-- <xacro:ground_truth_generator body_frame="${namespace}/base_link" parent_frame="map"/> -->
+
+</robot>
+
+
diff --git a/submitted_models/explorer_x1_sensor_config_2/urdf/robot_from_sdf.xacro b/submitted_models/explorer_x1_sensor_config_2/urdf/robot_from_sdf.xacro
new file mode 100644
index 00000000..805710cb
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/urdf/robot_from_sdf.xacro
@@ -0,0 +1,448 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='explorer_x1_sensor_config_2' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name='name' default='explorer_x1_sensor_config_2'/>
+  <xacro:property name='robot_namespace' value='$(arg name)'/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='-0.000649 -0.084999 0.062001' rpy='0 -0 0'/>
+      <mass value='46.0344'/>
+      <inertia ixx='0.63323' ixy='-0.0236421' ixz='-0.119707' iyy='1.76965' iyz='-0.00154755' izz='2.06066'/>
+    </inertial>
+    <collision name='base_link_collision'>
+      <origin xyz='0 0 0.061875' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.9874 0.5709 0.12375'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_collision_1'>
+      <origin xyz='0 0 0.185625' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.78992 0.5709 0.12375'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__front_realsense_link_collision_2'>
+      <origin xyz='0.4 0 0.3' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.3 0.09'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__left_realsense_link_collision_3'>
+      <origin xyz='0.3 0.2 0.3' rpy='0 -0 1.57'/>
+      <geometry>
+        <box size='0.07 0.3 0.09'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__rear_realsense_link_collision_4'>
+      <origin xyz='0.2 0 0.3' rpy='0 -0 3.14'/>
+      <geometry>
+        <box size='0.07 0.3 0.09'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__right_realsense_link_collision_5'>
+      <origin xyz='0.3 -0.2 0.3' rpy='0 0 -1.57'/>
+      <geometry>
+        <box size='0.07 0.3 0.09'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__top_plate_link_collision_6'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/top_plate.dae' scale='1 1 1'/>
+      </geometry>
+    </collision>
+    <collision name='base_link_fixed_joint_lump__top_plate_link_collision_7'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.32 0.41 0.09'/>
+      </geometry>
+    </collision>
+    <visual name='base_link_visual'>
+      <origin xyz='0 0 0' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/chassis.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__center_left_headlight_link_visual_1'>
+      <origin xyz='0.485766 0.0844 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__center_left_rear_headlight_link_visual_2'>
+      <origin xyz='-0.485766 0.0844 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__center_right_headlight_link_visual_3'>
+      <origin xyz='0.485766 -0.0844 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__center_right_rear_headlight_link_visual_4'>
+      <origin xyz='-0.485766 -0.0844 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_realsense_link_visual_5'>
+      <origin xyz='0.4 0 0.3' rpy='0 -0 1.57079'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/accessories/kinect.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__lateral_left_front_headlight_link_visual_6'>
+      <origin xyz='0.25 0.25 0.1' rpy='0 0 -1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__lateral_left_rear_headlight_link_visual_7'>
+      <origin xyz='-0.25 0.25 0.1' rpy='0 0 -1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__lateral_right_front_headlight_link_visual_8'>
+      <origin xyz='0.25 -0.25 0.1' rpy='0 -0 1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__lateral_right_rear_headlight_link_visual_9'>
+      <origin xyz='-0.25 -0.25 0.1' rpy='0 -0 1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__left_headlight_link_visual_10'>
+      <origin xyz='0.461459 0.216803 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_11'>
+      <origin xyz='0.066047 0.212211 0.209188' rpy='-3.14159 1.57079 -1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_12'>
+      <origin xyz='-0.066047 0.212211 0.209188' rpy='-3.14159 1.57079 -1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__left_realsense_link_visual_13'>
+      <origin xyz='0.3 0.2 0.3' rpy='0 -0 3.1408'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/accessories/kinect.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__left_rear_headlight_link_visual_14'>
+      <origin xyz='-0.461459 0.216803 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_15'>
+      <origin xyz='-0.42493 0 0.209188' rpy='3.14159 1.57079 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_16'>
+      <origin xyz='-0.42493 0.13619 0.209188' rpy='3.14159 1.57079 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__rear_realsense_link_visual_17'>
+      <origin xyz='0.2 0 0.3' rpy='0 0 -1.57239'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/accessories/kinect.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_18'>
+      <origin xyz='-0.42493 -0.13619 0.209188' rpy='3.14159 1.57079 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__right_headlight_link_visual_19'>
+      <origin xyz='0.461459 -0.216803 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_20'>
+      <origin xyz='0.066047 -0.212211 0.209188' rpy='3.14159 1.57079 1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__marker_visual_21'>
+      <origin xyz='-0.066047 -0.212211 0.209188' rpy='3.14159 1.57079 1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__right_realsense_link_visual_22'>
+      <origin xyz='0.3 -0.2 0.3' rpy='0 -0 0.000795'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/accessories/kinect.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__right_rear_headlight_link_visual_23'>
+      <origin xyz='-0.461459 -0.216803 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__top_plate_link_visual_24'>
+      <origin xyz='0.0812 0 0.245' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/top_plate.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_laser_mount_visual_25'>
+      <origin xyz='0.2812 0 0.345' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/sick-lms1xx-bracket.stl' scale='1 1 1'/>
+      </geometry>
+      <material name="dark_grey"/>
+    </visual>
+    <visual name='base_link_fixed_joint_lump__front_laser_visual_visual_26'>
+      <origin xyz='0.2812 0 0.494' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.025' length='0.1'/>
+      </geometry>
+      <material name="front_laser_visual_material">
+        <color rgba="0.5 1.0 0.5 1.0"/>
+      </material>
+    </visual>
+    <visual name='left_headlight_body_light_source_visual'>
+      <origin xyz='0.461959 0.216803 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='center_left_headlight_body_light_source_visual'>
+      <origin xyz='0.486266 0.0844 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='center_right_headlight_body_light_source_visual'>
+      <origin xyz='0.486266 -0.0844 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='right_headlight_body_light_source_visual'>
+      <origin xyz='0.461959 -0.216803 0.06' rpy='0 0 -3.14159'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='lateral_left_front_headlight_body_light_source_visual'>
+      <origin xyz='0.25 0.2505 0.1' rpy='0 0 -1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='lateral_left_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.25 0.2505 0.1' rpy='0 0 -1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='lateral_right_front_headlight_body_light_source_visual'>
+      <origin xyz='0.25 -0.2505 0.1' rpy='0 -0 1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='lateral_right_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.25 -0.2505 0.1' rpy='0 -0 1.57'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='left_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.461959 0.216803 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='center_left_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.486266 0.0844 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='center_right_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.486266 -0.0844 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='right_rear_headlight_body_light_source_visual'>
+      <origin xyz='-0.461959 -0.216803 0.06' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/headlight_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rear_right_led_body_light_source_visual'>
+      <origin xyz='-0.42543 -0.13619 0.209187' rpy='-3.14159 1.56859 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rear_center_led_body_light_source_visual'>
+      <origin xyz='-0.42543 -0 0.209187' rpy='-3.14159 1.56859 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rear_left_led_body_light_source_visual'>
+      <origin xyz='-0.42543 0.13619 0.209187' rpy='-3.14159 1.56859 7e-06'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='right_lateral_front_led_body_light_source_visual'>
+      <origin xyz='0.066063 -0.212711 0.209187' rpy='3.14159 1.56859 1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='right_lateral_rear_led_body_light_source_visual'>
+      <origin xyz='-0.066031 -0.212711 0.209187' rpy='3.14159 1.56859 1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='left_lateral_front_led_body_light_source_visual'>
+      <origin xyz='0.066063 0.212711 0.209187' rpy='-3.14159 1.56859 -1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='left_lateral_rear_led_body_light_source_visual'>
+      <origin xyz='-0.066031 0.212711 0.209187' rpy='-3.14159 1.56859 -1.60259'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/led_lamp.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='front_left_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='front_left_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='front_right_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='front_right_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='rear_left_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='rear_left_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='2.637'/>
+      <inertia ixx='0.02467' ixy='0' ixz='0' iyy='0.04411' iyz='0' izz='0.02467'/>
+    </inertial>
+    <collision name='rear_right_wheel_link_collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.1651' length='0.1143'/>
+      </geometry>
+    </collision>
+    <visual name='rear_right_wheel_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_x1_sensor_config_2/meshes/wheel.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.256 0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.256 -0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.256 0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.256 -0.2854 0.03282' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel_link'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 1 0'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>
diff --git a/submitted_models/explorer_x1_sensor_config_2/worlds/example.sdf b/submitted_models/explorer_x1_sensor_config_2/worlds/example.sdf
new file mode 100644
index 00000000..9ea5042c
--- /dev/null
+++ b/submitted_models/explorer_x1_sensor_config_2/worlds/example.sdf
@@ -0,0 +1,183 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- Barriers -->
+    <include>
+      <name>barrier_0_-1</name>
+      <pose>8.0 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_0_1</name>
+      <pose>8.0 11 0 0 0 0 </pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_-1</name>
+      <pose>3.7 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_1_1</name>
+      <pose>3.7 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_-1</name>
+      <pose>-0.5999999999999996 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_2_1</name>
+      <pose>-0.5999999999999996 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_-1</name>
+      <pose>-4.899999999999999 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_3_1</name>
+      <pose>-4.899999999999999 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_-1</name>
+      <pose>-9.2 -11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_4_1</name>
+      <pose>-9.2 11 0 0 0 0</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_-2</name>
+      <pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-9.5_2</name>
+      <pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-2</name>
+      <pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_-1</name>
+      <pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_0</name>
+      <pose>-12 0.0 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+  
+    <include>
+      <name>barrier_-32_1</name>
+      <pose>-12 4.3 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+    <include>
+      <name>barrier_-32_2</name>
+      <pose>-12 8.6 0 0 0 1.5707963267948966</pose>
+      <uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
+    </include>
+
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 327409c2..0cbf7e89 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -520,16 +520,21 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
-    if _config == "1" or _config == "2" or _config == "3" or _config == "4"
+    if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
     if _config == "5"
       stereoCam=1
     end
-    if _config == "6"
+    if _config == "6" or _config == "8"
       lidar3d=1
     end
 
+    max_breadcrumbs = 0
+    if _config == "8" or _config == "9"
+      max_breadcrumbs = 6
+    end
+
     z = _z + 0.063494
 
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
@@ -584,6 +589,21 @@
     "      <update_rate>10</update_rate>"\
     "      <type>gas</type>"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-breadcrumbs-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
+    "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
+    "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <breadcrumb>\n"\
+    "        <sdf version=\"1.6\">\n"\
+    "          <model name=\"#{_name}__breadcrumb__\">\n"\
+    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
+    "            </include>\n"\
+    "          </model>\n"\
+    "        </sdf>\n"\
+    "      </breadcrumb>\n"\
+    "    </plugin>\n"\
     "  </include>\n"\
     "  </sdf>\n"\
     "</plugin>\n"\
@@ -1053,7 +1073,7 @@
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign
index 08a557dd..52ec642d 100644
--- a/subt_ign/launch/cloudsim_bridge.ign
+++ b/subt_ign/launch/cloudsim_bridge.ign
@@ -117,15 +117,16 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
-    if _config == "1" or _config == "2" or _config == "3" or _config == "4"
+    if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
     if _config == "5"
       stereoCam=1
     end
-    if _config == "6"
+    if _config == "6" or _config == "8"
       lidar3d=1
     end
+
     "<executable name='x2_description'>\n"\
     "  <command>roslaunch --wait subt_ros x2_description.launch name:=#{_name}</command>\n"\
     "</executable>\n"\
@@ -183,7 +184,7 @@
     if robotConfigs[i][1] == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
 %>
 <%=   spawnX1(robotNames[i], robotConfigs[i][-1]) %>
-<%  elsif robotConfigs[i][1] == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6") %>
+<%  elsif robotConfigs[i][1] == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9") %>
 <%=   spawnX2(robotNames[i], robotConfigs[i][-1]) %>
 <%  elsif robotConfigs[i][1] == "3" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4") %>
 <%=   spawnX3(robotNames[i], robotConfigs[i][-1]) %>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index a4f8901d..248d79b5 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -565,6 +565,11 @@
   end
 
   def spawnX2(_name, _config, _x, _y, _z, _yaw)
+    max_breadcrumbs = 0
+    if _config == "8" or _config == "9"
+      max_breadcrumbs = 6
+    end
+
     z = _z + 0.063494
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
@@ -618,6 +623,21 @@
     "      <update_rate>10</update_rate>"\
     "      <type>gas</type>"\
     "    </plugin>\n"\
+    "    <plugin filename=\"libignition-gazebo-breadcrumbs-system.so\"\n"\
+    "      name=\"ignition::gazebo::systems::Breadcrumbs\">\n"\
+    "      <topic>/model/#{_name}/breadcrumb/deploy</topic>\n"\
+    "      <max_deployments>#{max_breadcrumbs}</max_deployments>"\
+    "      <breadcrumb>\n"\
+    "        <sdf version=\"1.6\">\n"\
+    "          <model name=\"#{_name}__breadcrumb__\">\n"\
+    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <include>\n"\
+    "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
+    "            </include>\n"\
+    "          </model>\n"\
+    "        </sdf>\n"\
+    "      </breadcrumb>\n"\
+    "    </plugin>\n"\
     "  </include>\n"\
     "  </sdf>\n"\
     "</plugin>\n"
@@ -1037,12 +1057,12 @@
     posX = x + spawnWorldXPos
     posY = y + spawnWorldYPos
 
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>

From 5f7697a091b9208ff0932a88b6343b61f1984762 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 23 Apr 2020 05:10:36 -0700
Subject: [PATCH 3/6] Prevent breadcrumb topics

---
 .../launch/vehicle_topics.launch                |  9 +++++++++
 .../launch/vehicle_topics.launch                |  9 +++++++++
 subt_ign/launch/cave_circuit.ign                |  8 ++++----
 subt_ros/launch/vehicle_topics.launch           | 17 ++++++++++-------
 4 files changed, 32 insertions(+), 11 deletions(-)

diff --git a/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
index 98c19afc..ee8c3575 100644
--- a/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
+++ b/submitted_models/costar_husky_sensor_config_2/launch/vehicle_topics.launch
@@ -107,5 +107,14 @@
       args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
       <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
     </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_breadcrumbs"
+      args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty">
+      <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/>
+    </node>
+
   </group>
 </launch>
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch b/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
index 0c16d16b..66278227 100644
--- a/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/vehicle_topics.launch
@@ -198,5 +198,14 @@
       args="/model/$(arg name)/gas_detected@std_msgs/Bool[ignition.msgs.Boolean">
       <remap from="/model/$(arg name)/gas_detected" to="gas_detected"/>
     </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_breadcrumbs"
+      args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty">
+      <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/>
+    </node>
+
   </group>
 </launch>
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 0cbf7e89..45c55e8d 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -511,7 +511,7 @@
     "  <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x1_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -611,7 +611,7 @@
     "  <command>roslaunch --wait subt_ros x2_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x2_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -804,7 +804,7 @@
     "  <command>roslaunch --wait subt_ros x3_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x3_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 
@@ -1050,7 +1050,7 @@
     "  <command>roslaunch --wait subt_ros x4_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x4_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 %>
diff --git a/subt_ros/launch/vehicle_topics.launch b/subt_ros/launch/vehicle_topics.launch
index 81c59326..a2597aa4 100644
--- a/subt_ros/launch/vehicle_topics.launch
+++ b/subt_ros/launch/vehicle_topics.launch
@@ -10,6 +10,7 @@
   <arg name="laser_scan" default="1"/>
   <arg name="rgbd_cam" default="0"/>
   <arg name="lidar_3d" default="0"/>
+  <arg name="breadcrumbs" default="0"/>
   <group ns="$(arg name)">
     <!--Create multipe bridges so that it can run in parallel-->
     <node
@@ -166,13 +167,15 @@
         args="/model/$(arg name)/odometry@nav_msgs/Odometry[ignition.msgs.Odometry">
         <remap from="/model/$(arg name)/odometry" to="odom"/>
       </node>
-      <node
-        pkg="ros_ign_bridge"
-        type="parameter_bridge"
-        name="ros_ign_bridge_breadcrumbs"
-        args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty">
-        <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/>
-      </node>
+      <group if="$(arg breadcrumbs)">
+        <node
+          pkg="ros_ign_bridge"
+          type="parameter_bridge"
+          name="ros_ign_bridge_breadcrumbs"
+          args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty">
+          <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/>
+        </node>
+      </group>
     </group>
 
     <node

From fe173a8139a8c5d616da275b7cbe61c31e11fd16 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 23 Apr 2020 09:25:35 -0700
Subject: [PATCH 4/6] Added breadcrumb handling to more launch files

---
 subt_ign/launch/cloudsim_bridge.ign         | 17 ++++++++++---
 subt_ign/launch/competition.ign             | 27 +++++++++++++++------
 subt_ign/launch/tunnel_circuit_practice.ign | 26 ++++++++++++++------
 subt_ign/launch/urban_circuit.ign           | 23 ++++++++++++------
 4 files changed, 68 insertions(+), 25 deletions(-)

diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign
index 52ec642d..1bf52528 100644
--- a/subt_ign/launch/cloudsim_bridge.ign
+++ b/subt_ign/launch/cloudsim_bridge.ign
@@ -95,6 +95,7 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
+    breadcrumbs=0
     if _config == "1" or _config == "2"
       laserScan=1
     end
@@ -104,11 +105,15 @@
     if _config == "5"
       stereoCam=1
     end
+    if _config == "7" or _config == "8"
+      breadcrumbs = 1
+    end
+
     "<executable name='x1_description'>\n"\
     "  <command>roslaunch --wait subt_ros x1_description.launch name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x1_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{breadcrumbs}</command>\n"\
     "</executable>\n"
   end
 
@@ -117,6 +122,7 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
+    breadcrumbs=0
     if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
@@ -126,12 +132,15 @@
     if _config == "6" or _config == "8"
       lidar3d=1
     end
+    if _config == "8" or _config == "9"
+      breadcrumbs=1
+    end
 
     "<executable name='x2_description'>\n"\
     "  <command>roslaunch --wait subt_ros x2_description.launch name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x2_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{breadcrumbs}</command>\n"\
     "</executable>\n"
   end
 
@@ -150,7 +159,7 @@
     "  <command>roslaunch --wait subt_ros x3_description.launch name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x3_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 
@@ -172,7 +181,7 @@
     "  <command>roslaunch --wait subt_ros x4_description.launch name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x4_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 %>
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 90fd87dc..cbb1ee42 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -396,12 +396,19 @@
     if _config == "1" or _config == "2"
       laserScan=1
     end
-    if _config == "3" or _config == "4"
+    if _config == "3" or _config == "4" or _config == "7" or _config == "8"
       lidar3d=1
     end
     if _config == "5"
       stereoCam=1
     end
+
+    max_breadcrumbs = 0
+    if _config == "7" or _config == "8"
+      max_breadcrumbs = 12
+    end
+
+
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
     "  <name>#{_name}</name>\n"\
@@ -454,7 +461,7 @@
     "  <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x1_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -463,15 +470,21 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
-    if _config == "1" or _config == "2" or _config == "3" or _config == "4"
+    if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
     if _config == "5"
       stereoCam=1
     end
-    if _config == "6"
+    if _config == "6" or _config == "8"
       lidar3d=1
     end
+
+    max_breadcrumbs = 0
+    if _config == "8" or _config == "9"
+      max_breadcrumbs = 6
+    end
+
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
     "  <name>#{_name}</name>\n"\
@@ -524,7 +537,7 @@
     "  <command>roslaunch --wait subt_ros x2_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x2_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -707,7 +720,7 @@
     "  <command>roslaunch --wait subt_ros x3_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x3_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 
@@ -943,7 +956,7 @@
     "  <command>roslaunch --wait subt_ros x4_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x4_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 %>
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index e1779cce..a4b0812e 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -388,12 +388,18 @@
     if _config == "1" or _config == "2"
       laserScan=1
     end
-    if _config == "3" or _config == "4"
+    if _config == "3" or _config == "4" or _config == "7" or _config == "8"
       lidar3d=1
     end
     if _config == "5"
       stereoCam=1
     end
+
+    max_breadcrumbs = 0
+    if _config == "7" or _config == "8"
+      max_breadcrumbs = 12
+    end
+
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
     "  <name>#{_name}</name>\n"\
@@ -446,7 +452,7 @@
     "  <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x1_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -455,15 +461,21 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
-    if _config == "1" or _config == "2" or _config == "3" or _config == "4"
+    if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
     if _config == "5"
       stereoCam=1
     end
-    if _config == "6"
+    if _config == "6" or _config == "8"
       lidar3d=1
     end
+
+    max_breadcrumbs = 0
+    if _config == "8" or _config == "9"
+      max_breadcrumbs = 6
+    end
+
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
     "  <name>#{_name}</name>\n"\
@@ -516,7 +528,7 @@
     "  <command>roslaunch --wait subt_ros x2_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x2_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -699,7 +711,7 @@
     "  <command>roslaunch --wait subt_ros x3_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x3_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 
@@ -935,7 +947,7 @@
     "  <command>roslaunch --wait subt_ros x4_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x4_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 %>
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index e9afb7d4..1e69f826 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -410,13 +410,18 @@
     if _config == "1" or _config == "2"
       laserScan=1
     end
-    if _config == "3" or _config == "4"
+    if _config == "3" or _config == "4" or _config == "7" or _config == "8"
       lidar3d=1
     end
     if _config == "5"
       stereoCam=1
     end
 
+    max_breadcrumbs = 0
+    if _config == "7" or _config == "8"
+      max_breadcrumbs = 12
+    end
+
     z = _z + 0.2
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
     "        filename=\"libignition-launch-gazebo-factory.so\">\n"\
@@ -477,7 +482,7 @@
     "  <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x1_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -486,16 +491,20 @@
     laserScan=0
     stereoCam=0
     lidar3d=0
-    if _config == "1" or _config == "2" or _config == "3" or _config == "4"
+    if _config == "1" or _config == "2" or _config == "3" or _config == "4" or _config == "9"
       laserScan=1
     end
     if _config == "5"
       stereoCam=1
     end
-    if _config == "6"
+    if _config == "6" or _config == "8"
       lidar3d=1
     end
 
+    max_breadcrumbs = 0
+    if _config == "8" or _config == "9"
+      max_breadcrumbs = 6
+    end
     z = _z + 0.063494
 
     "<plugin name=\"ignition::launch::GazeboFactory\"\n"\
@@ -557,7 +566,7 @@
     "  <command>roslaunch --wait subt_ros x2_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x2_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} lidar_3d:=#{lidar3d} breadcrumbs:=#{max_breadcrumbs>0?1:0}</command>\n"\
     "</executable>\n"
   end
 
@@ -750,7 +759,7 @@
     "  <command>roslaunch --wait subt_ros x3_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x3_ros_ign_bridge'>\n"\
-      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+      "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 
@@ -996,7 +1005,7 @@
     "  <command>roslaunch --wait subt_ros x4_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
     "</executable>\n"\
     "<executable name='x4_ros_ign_bridge'>\n"\
-    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
+    "  <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam} breadcrumbs:=0</command>\n"\
     "</executable>\n"
   end
 %>

From 8841390527d80de6271e45aa9053d05dc00ccf16 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Tue, 28 Apr 2020 10:11:51 -0700
Subject: [PATCH 5/6] Apply patch

---
 subt_ign/launch/competition.ign             | 4 ++--
 subt_ign/launch/tunnel_circuit_practice.ign | 4 ++--
 subt_ign/launch/urban_circuit.ign           | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index cbb1ee42..f1e4cfc4 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -968,12 +968,12 @@
     robotConfigN = config[-1]
     posX = -(robotSpawned / spawnColSize * spawnGridSize - spawnRowOffset)
     posY = -(robotSpawned % spawnColSize * spawnGridSize - spawnColOffset)
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY) %>
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index a4b0812e..59ff9088 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -959,12 +959,12 @@
     robotConfigN = config[-1]
     posX = -(robotSpawned / spawnColSize * spawnGridSize - spawnRowOffset)
     posY = -(robotSpawned % spawnColSize * spawnGridSize - spawnColOffset)
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY) %>
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index 1e69f826..eaaed5a3 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -1023,12 +1023,12 @@
     posX = x + spawnWorldXPos
     posY = y + spawnWorldYPos
 
-    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5")
+    if robotType == "1" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "7" or robotConfigN == "8")
       robotSpawned += 1
 %>
 <%=   spawnX1(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
 <%
-    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6")
+    elsif robotType == "2" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5" or robotConfigN == "6" or robotConfigN == "8" or robotConfigN == "9")
       robotSpawned += 1
 %>
 <%=   spawnX2(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>

From a1a886b42f913692dfb8fe9d099ef21ef4f22586 Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Tue, 28 Apr 2020 11:10:37 -0700
Subject: [PATCH 6/6] Adjust spawn location of the breadcrumbs

---
 .../costar_husky_sensor_config_2/launch/spawner.rb            | 2 +-
 .../explorer_x1_sensor_config_2/launch/spawner.rb             | 2 +-
 subt_ign/launch/cave_circuit.ign                              | 4 ++--
 subt_ign/launch/cloudsim_sim.ign                              | 4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
index ea3148bb..892fb354 100644
--- a/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
@@ -59,7 +59,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <breadcrumb>"
           <sdf version="1.6">
             <model name="#{_name}__breadcrumb__">
-              <pose>-1.2 0 0 0 0 0</pose>
+              <pose>-0.45 0 0 0 0 0</pose>
               <include>
                 <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>
               </include>
diff --git a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
index cec914fe..97457937 100644
--- a/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
@@ -59,7 +59,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <breadcrumb>"
           <sdf version="1.6">
             <model name="#{_name}__breadcrumb__">
-              <pose>-1.2 0 0 0 0 0</pose>
+              <pose>-0.45 0 0 0 0 0</pose>
               <include>
                 <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>
               </include>
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 8ef7da6a..2b57d491 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -530,7 +530,7 @@
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
-    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <pose>-0.45 0 0 0 0 0</pose>\n"\
     "            <include>\n"\
     "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
     "            </include>\n"\
@@ -630,7 +630,7 @@
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
-    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <pose>-0.24 0 0 0 0 0</pose>\n"\
     "            <include>\n"\
     "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
     "            </include>\n"\
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 3e2f117f..a359afef 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -586,7 +586,7 @@
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
-    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <pose>-0.45 0 0 0 0 0</pose>\n"\
     "            <include>\n"\
     "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
     "            </include>\n"\
@@ -665,7 +665,7 @@
     "      <breadcrumb>\n"\
     "        <sdf version=\"1.6\">\n"\
     "          <model name=\"#{_name}__breadcrumb__\">\n"\
-    "            <pose>-1.2 0 0 0 0 0</pose>\n"\
+    "            <pose>-0.24 0 0 0 0 0</pose>\n"\
     "            <include>\n"\
     "              <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>\n"\
     "            </include>\n"\