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

    <link name="base_link">
    </link>

    <!-- CHASSIS LINK -->

    <joint name="chassis_joint" type="fixed">
        <parent link="base_link"/>
        <child link="chassis"/>
        <origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
    </joint>

    <link name="chassis">
      <visual>
        <geometry>
          <mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.obj" scale="0.001 0.001 0.001"/>
        </geometry>
        <material name="grey"/>
      </visual>
    <collision>
        <geometry>
        <box size="2.0 2.0 0.1"/>
        </geometry>
    </collision>
    <inertial>
        <mass value="1.0"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 
    </inertial>

    </link>

    <gazebo reference="chassis">
        <material>Gazebo/White</material>
        <visual>
          <laser_retro>255</laser_retro>
          <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
            <label>10</label>
          </plugin>
        </visual>
    </gazebo>    

</robot>