From f90191f849722f8955395180d3a903974b4adc72 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Wed, 10 Mar 2021 13:47:26 -0800
Subject: [PATCH 01/18] Add Coordinated Robotics Karen.  Ackermann Steered
 Robot

---
 .../coro_karen_sensor_config_1/CMakeLists.txt |    56 +
 .../launch/description.launch                 |     6 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |   109 +
 .../launch/vehicle_topics.launch              |   249 +
 .../meshes/VLP16_base_1.dae                   |    89 +
 .../meshes/VLP16_base_2.dae                   |    89 +
 .../meshes/VLP16_scan.dae                     |    89 +
 .../meshes/realsense_d435.dae                 |   134 +
 .../meshes/wheel.dae                          | 49570 ++++++++++++++++
 .../coro_karen_sensor_config_1/model.config   |    12 +
 .../coro_karen_sensor_config_1/model.sdf      |  1347 +
 .../model.sdf.urban                           |  1097 +
 .../coro_karen_sensor_config_1/package.xml    |    24 +
 .../specifications.md                         |   106 +
 .../src/AckermannSteering.cc                  |   778 +
 .../src/AckermannSteering.hh                  |   139 +
 .../src/SpeedLimiter.cc                       |   209 +
 .../src/SpeedLimiter.hh                       |   130 +
 .../thumbnails/1.png                          |   Bin 0 -> 120307 bytes
 .../thumbnails/2.png                          |   Bin 0 -> 53197 bytes
 .../thumbnails/3.png                          |   Bin 0 -> 64830 bytes
 .../thumbnails/4.png                          |   Bin 0 -> 77225 bytes
 .../thumbnails/5.png                          |   Bin 0 -> 68869 bytes
 .../urdf/model.urdf                           |   406 +
 .../worlds/example.sdf                        |   183 +
 .../coro_karen_sensor_config_2/CMakeLists.txt |     8 +
 .../launch/spawner.rb                         |   126 +
 .../coro_karen_sensor_config_2/package.xml    |    24 +
 29 files changed, 55150 insertions(+)
 create mode 100644 submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/description.launch
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/example.ign
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
 create mode 100755 submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_scan.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.config
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.sdf
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.sdf.urban
 create mode 100644 submitted_models/coro_karen_sensor_config_1/package.xml
 create mode 100644 submitted_models/coro_karen_sensor_config_1/specifications.md
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/1.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/2.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/3.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/4.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/5.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
 create mode 100644 submitted_models/coro_karen_sensor_config_1/worlds/example.sdf
 create mode 100644 submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
 create mode 100644 submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
 create mode 100644 submitted_models/coro_karen_sensor_config_2/package.xml

diff --git a/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..8a3bcbf2
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_karen_sensor_config_1)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_runtime
+  std_msgs
+  geometry_msgs
+)
+
+
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
+)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(ackermannlocal SHARED
+  src/AckermannSteering.cc
+  src/SpeedLimiter.cc
+)
+
+target_link_libraries(ackermannlocal
+  PUBLIC ${catkin_LIBRARIES}
+  PRIVATE ignition-plugin1::ignition-plugin1
+  PRIVATE ignition-gazebo4::ignition-gazebo4
+  PRIVATE ignition-common3::ignition-common3
+  PRIVATE ignition-transport9::ignition-transport9
+  PRIVATE Eigen3::Eigen
+)
+
+
+install(TARGETS ackermannlocal
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  )
+
+install(DIRECTORY launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/description.launch b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..541f6dba
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/karen_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/example.ign b/submitted_models/coro_karen_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..8d4901a4
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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 = 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/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..630fa77f
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,109 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <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>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannlocal.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <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>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.65</wheel_separation>
+        <kingpin_width>0.44</kingpin_width>
+        <steering_limit>0.187</steering_limit>
+        <wheel_base>0.93</wheel_base>
+        <wheel_radius>0.175</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-1.67</min_velocity>
+        <max_velocity>1.67</max_velocity>
+        <min_acceleration>-3</min_acceleration>
+        <max_acceleration>3</max_acceleration>
+      </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>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </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>
+      <!-- Wheel slip -->
+      <plugin filename="libignition-gazebo-wheel-slip-system.so"
+        name="ignition::gazebo::systems::WheelSlip">
+        <wheel link_name="front_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="front_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
new file mode 100755
index 00000000..3e075f68
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,249 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <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_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>
+
+    <group ns="front_thermal">
+      <!-- Thermal Camera -->
+      <!-- Note camera_info topic generated by ign-gazebo incorrectly removes
+           sensor name in topic string -->
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_thermal_camera"
+        args="$(arg sensor_prefix)/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/camera_info" to="thermal_camera/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_thermal_camera"
+        args="$(arg sensor_prefix)/thermal_camera">
+        <remap from="$(arg sensor_prefix)/thermal_camera" to="thermal_camera/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_image_thermal_camera">
+        <remap from="input/image" to="thermal_camera/image_raw" />
+        <remap from="output/image" to="thermal_camera/optical/image_raw" />
+        <remap from="input/camera_info" to="thermal_camera/camera_info" />
+        <remap from="output/camera_info" to="thermal_camera/optical/camera_info" />
+      </node>
+    </group>
+
+
+    <!--Front RGBD camera -->
+    <group ns="front_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_front/image">
+        <remap from="$(arg sensor_prefix)/rs_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+
+    <!-- Front monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_front"
+	args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_front"
+	args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+    
+    <!-- Rear monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+
+    <!-- Left monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_left"
+	args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_left"
+	args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+  
+    <!-- Right monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_right"
+	args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_right"
+	args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+
+
+    
+    
+    <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_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <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>
+
+    <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>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+    
+    <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>
+</launch>
diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae
new file mode 100644
index 00000000..d033ef37
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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>
+        <source id="meshId0-positions" name="meshId0-positions">
+          <float_array id="meshId0-positions-array" count="11511"> -0.051054 0.00539008 0.00996997 -0.051054 0.00474779 0.0108824 -0.051054 2.99773e-10 0.006858 -0.051054 0.00585912 0.00895752 -0.051054 0.00610659 0.00565519 -0.051054 0.00622323 0.0067649 -0.051054 0.00613984 0.00787759 -0.051054 0.00462528 0.00269339 -0.051054 0.00529457 0.00358619 -0.051054 0.00579369 0.00458415 -0.051054 0.00183453 0.000910592 -0.051054 0.002867 0.00133374 -0.051054 0.00380733 0.00193444 -0.051054 -0.00147557 0.000811525 -0.051054 -0.000372217 0.000645221 -0.051054 0.000743101 0.000678601 -0.051054 -0.00436794 0.00242423 -0.051054 -0.00350606 0.00171556 -0.051054 -0.0025315 0.00117217 -0.051054 -0.00602373 0.00529215 -0.051054 -0.00564733 0.00424173 -0.051054 -0.00508942 0.00327541 -0.051054 -0.00597419 0.00860336 -0.051054 -0.00618983 0.00750858 -0.051054 -0.00620652 0.00639289 -0.051054 -0.00423334 0.0114205 -0.051054 -0.00497997 0.0105913 -0.051054 -0.00556654 0.00964205 -0.051054 -0.00129403 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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/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae
new file mode 100644
index 00000000..5ae0343c
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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>
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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/coro_karen_sensor_config_1/meshes/VLP16_scan.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_scan.dae
new file mode 100644
index 00000000..56963288
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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>
+        <source id="meshId0-positions" name="meshId0-positions">
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diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae b/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
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+        </triangles>
+        <triangles material="alu_eloxiert-material" count="30">
+          <input semantic="VERTEX" source="#_62222_00-Moveable_Parts_Realsense_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#_62222_00-Moveable_Parts_Realsense_001-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="_62222_00-Moveable_Parts_Realsense_0012" name="_62222_00-Moveable_Parts_Realsense_0012" type="NODE">
+        <matrix sid="transform">1 0 0 -9.53674e-7 0 1 0 0 0 0 1 1.90735e-6 0 0 0 1</matrix>
+        <instance_geometry url="#_62222_00-Moveable_Parts_Realsense_001-mesh" name="_62222_00-Moveable_Parts_Realsense_0012">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+              <instance_material symbol="alu_eloxiert-material" target="#alu_eloxiert-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/coro_karen_sensor_config_1/meshes/wheel.dae b/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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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+      </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/coro_karen_sensor_config_1/model.config b/submitted_models/coro_karen_sensor_config_1/model.config
new file mode 100644
index 00000000..79dfc324
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.config
@@ -0,0 +1,12 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Cooordinated Robotics Karen Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    The Karen robot for SubT.
+  </description>
+</model>
+
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
new file mode 100644
index 00000000..b3c80336
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -0,0 +1,1347 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="CORO_KAREN">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.1275 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>90.0</mass>
+	<inertia>
+	  <ixx>3.333</ixx>
+	  <iyy>9.733</iyy>
+	  <izz>9.733</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.1 0.7 0.4</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="tower_collision">
+        <pose>0.13 0 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.34</size>
+          </box>
+        </geometry>
+      </collision>
+
+      
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.0 0.45 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="front_side">
+        <pose>0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="back_side">
+        <pose>-0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="left_side">
+        <pose>0 0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="right_side">
+        <pose>0 -0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      <visual name="differential_visual">
+        <pose>-0.5 0 0.0 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.06</radius>
+            <length>0.44</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+
+
+
+
+      <visual name="plate1_visual">
+        <pose>0.37 0 0.66 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="plate2_visual">
+        <pose>0.37 0 0.55 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="plate3_visual">
+        <pose>0.37 0 0.36 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="beam1_visual">
+        <pose>0.461 0.091 0.51 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam2_visual">
+        <pose>0.461 -0.091 0.51 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam3_visual">
+        <pose>0.279 0.091 0.41 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam4_visual">
+        <pose>0.279 -0.091 0.41 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="d435i_realsense_camera_visual">
+        <pose>0.43 0 0.634 0 0.52 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <visual name="vlp16_visual1">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual2">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual3">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+
+      
+      
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.13 -0.13 0.26 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.13 -0.13 0.27 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 0 0</ambient>
+          <diffuse>255 0 0</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      
+      <!-- IMU  -->
+      <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>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <!-- thermal camera -->
+      <visual name="thermal_camera_visual">
+        <pose> 0.45 -0.06 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.03 0.03</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal">
+        <pose> 0.48 -0.06 0.645 0 0 0</pose>
+        <camera name="thermal_camera">
+          <horizontal_fov>0.628</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>317.173</fx>
+              <fy>317.173</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>102.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>77.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <image>
+            <width>206</width>
+            <height>156</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>9</update_rate>
+      </sensor>
+      
+      
+	    
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.43 0 0.634 0 0.52 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+		 
+
+
+      <!-- 3D Velodyne VLP-16 lidar -->
+
+      
+      <sensor name="front_laser" type="gpu_ray">
+        <pose>0.37 0 0.592 0 0 0</pose>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1800</samples>
+              <resolution>1.0</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>
+      </sensor>
+
+
+
+
+      <visual name="camera_front_visual">
+        <pose>0.46 0.06 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_front_visual">
+        <pose>0.47 0.06 0.645 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_rear_visual">
+        <pose>0.28 0 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_rear_visual">
+        <pose>0.27 0 0.645 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_left_visual">
+        <pose>0.37 0.09 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.37 0.1 0.645 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_right_visual">
+        <pose>0.37 -0.09 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.37 -0.1 0.645 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+
+      <!-- Real robot has 2 x B0203 with LN008 each with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, four VGA cameras are used in the model -->
+      <sensor name="camera_front" type="camera">
+        <pose>0.48 0.06 0.645 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>219.9333</fx>
+              <fy>219.9333</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>239.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>319.5</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>480</width>
+            <height>640</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_rear" type="camera">
+        <pose>0.26 0 0.645 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>219.9333</fx>
+              <fy>219.9333</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>239.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>319.5</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>480</width>
+            <height>640</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_left" type="camera">
+        <pose>0.37 0.11 0.645 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>219.9333</fx>
+              <fy>219.9333</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>239.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>319.5</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>480</width>
+            <height>640</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.37 -0.11 0.645 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>219.9333</fx>
+              <fy>219.9333</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>239.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>319.5</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>480</width>
+            <height>640</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      
+
+      <light name="light_front_left" type="spot">
+        <pose>0.45 0.23 0.44 1.5 0 -0.75</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.45 -0.23 0.44 1.5 0 -2.25 </pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_left" type="spot">
+        <pose>-0.31 0.25 0.44 1.5 0 0.75</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_right" type="spot">
+        <pose>-0.31 -0.25 0.44 1.5 0 2.25</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_front_left_visual">
+        <pose>0.44 0.23 0.41 0 0 0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_front_right_visual">
+        <pose>0.44 -0.23 0.41 0 0 -0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_left_visual">
+        <pose>-0.3 0.25 0.41 0 0 -0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_right_visual">
+        <pose>-0.3 -0.25 0.41 0 0 0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.465 0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.465 -0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.465 0.325 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.465 0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. - rear wheel drive so most torque is simulated to rear wheels -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf.urban b/submitted_models/coro_karen_sensor_config_1/model.sdf.urban
new file mode 100644
index 00000000..a251d019
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf.urban
@@ -0,0 +1,1097 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="CORO_KAREN">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.1275 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>90.0</mass>
+	<inertia>
+	  <ixx>3.333</ixx>
+	  <iyy>9.733</iyy>
+	  <izz>9.733</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.1 0.7 0.4</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="tower_collision">
+        <pose>-0.3 0 0.55 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.1 0.1 0.4</size>
+	  </box>
+        </geometry>
+      </collision>
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.0 0.45 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="front_side">
+        <pose>0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="back_side">
+        <pose>-0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="left_side">
+        <pose>0 0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="right_side">
+        <pose>0 -0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      <visual name="differential_visual">
+        <pose>-0.5 0 0.0 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.06</radius>
+            <length>0.44</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_tower_visual">
+        <pose>-0.3 0 0.5 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.04</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.13 -0.13 0.26 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.13 -0.13 0.27 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 0 0</ambient>
+          <diffuse>255 0 0</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      
+      <!-- IMU  -->
+      <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>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <!-- thermal camera -->
+      <visual name="thermal_camera_visual">
+        <pose> 0.50 0 0.407 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.025 0.025</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal">
+        <pose> 0.50 0 0.407 0 0 0</pose>
+        <camera name="thermal_camera">
+          <horizontal_fov>0.4922</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>764.35630</fx>
+              <fy>764.35630</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>192.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>144.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <image>
+            <width>384</width>
+            <height>288</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+      </sensor>
+      
+      
+      <visual name="rgbd_front_camera_visual">
+        <pose>0.49 0 0.37 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rgbd_up_camera_visual">
+        <pose>0.51 0 0.42 0 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rgbd_rear_camera_visual">
+        <pose>-0.34 0 0.66 0 0 3.141592653589793</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+	    
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.49 0 0.37 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+      <sensor name="rs_up" type="rgbd_camera">
+        <pose>0.51 0 0.42 0 -1.5707963267948966 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_up">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+      <sensor name="rs_rear" type="rgbd_camera">
+        <pose>-0.34 0 0.66 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_rear">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+
+		 
+
+
+      <!-- 3D Velodyne VLP-16 lidar -->
+      <visual name="vlp16_visual1">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual2">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual3">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      
+      <sensor name="front_laser" type="gpu_ray">
+        <pose>-0.3 0 0.78 0 0 0</pose>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1800</samples>
+              <resolution>1.0</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>
+      </sensor>
+
+
+      <light name="light_front_left" type="spot">
+        <pose>0.44 0.25 0.44 1.5 0 -1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.44 -0.25 0.44 1.5 0 -1.5 </pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_left" type="spot">
+        <pose>-0.33 0.25 0.44 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_right" type="spot">
+        <pose>-0.33 -0.25 0.44 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_front_left_visual">
+        <pose>0.42 0.25 0.41 0 0 -0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_front_right_visual">
+        <pose>0.42 -0.25 0.41 0 0 0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_left_visual">
+        <pose>-0.3 0.25 0.41 0 0 0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_right_visual">
+        <pose>-0.3 -0.25 0.41 0 0 -0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.465 0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.465 -0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.465 0.325 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.465 0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. - rear wheel drive so most torque is simulated to rear wheels -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_karen_sensor_config_1/package.xml b/submitted_models/coro_karen_sensor_config_1/package.xml
new file mode 100644
index 00000000..c571bfe7
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_karen_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>Karen is a Coordinated Robotics robot with 3D LIDAR and RGBD cameras.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_karen_sensor_config_1/specifications.md b/submitted_models/coro_karen_sensor_config_1/specifications.md
new file mode 100644
index 00000000..ced566fa
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/specifications.md
@@ -0,0 +1,106 @@
+
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Coordinated Robotics - Karen
+This specifications.md file is a description of Coordinated Robotics Karen with Sensor
+Configuration 1. This robot may be launched using a `ign launch` command with the
+variable name `coro_karen_sensor_config_1`.
+
+## Description
+Karen is a four-wheel Ackermann type steering ground vehicle. Karen weighs ~110 kg.
+Karen can carry and launch a drone from atop the sensor platform.
+Karen is currently in the lab at CSUCI and so is not accessible for validation
+testing.  Velocity, weight, battery life and steering radius are taken from
+the manufacturer's web page.
+
+## Usage Instructions
+The robot is controlled by the included Ackermann steering plugin and accepts a
+linear x velocity and a rotational z velocity. Sensors are published on the standard
+topics.
+
+## Usage Rights
+
+
+## Cost and Scale
+Karen has an estimated duplication cost of USD 9,975. It weighs 110 kg.
+Cost breakdown:
+$3500 - Frame / motor / gearboxes / batteries / controllers
+$2500 - Velodyne VLP-16 https://www.ebay.com/sch/i.html?_nkw=velodyne+vlp-16&_sacat=0
+$1300 - MS-IMU3025
+$1200 - lights / connectors /switches / DC-DC / misc
+$1000 - laptop
+$250  - D435i
+$225  - Seek Thermal Compact
+The original frame / motor / gearbox was purchased from craigslist for $1200.  We added
+batteries and a controller for $300 more.  I would estimate it would cost $3200 to
+purchase the parts necessary to build a mechanically similar robot.  The manufacturer
+leases a complete system with sensors, software, support, etc. for $1500/month.
+
+## Sensors
+Karen Sensor Config 1 uses:
+* 1 x Velodyne VLP-16, modeled by gpu_lidar plugin
+* 1 x D435i modeled by rgbd_camera plugin
+* 1 x Memsense MS-IMU3025 modeled by imu_sensor and magnetometer plugin
+* 1 x Kakute F7 - modeled by air_pressure plugin
+* 1 x SCD30 - modeled by GasEmitterDetector plugin
+* 2 x Arducam B0203 with LN008 - modeled by 4 camera plugins
+* 1 x Seek Thermal Compact - modeled by the thermal plugin
+* 4 x Wheel odometry - wheel encoders modeled by pose-publisher plugin
+
+Karen Sensor Config 2 adds 12 breadcrumbs:
+* 12 x Raspberry Pi Zero W
+
+## Control
+Karen is controlled by the AckermannSteering plugin and accepts a linear x velocity
+and a rotational z velocity.  Sensors are published on the standard topics.
+
+
+## Motion Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation
+Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion
+constraint characteristics:
+
+* _x_ velocity range from -1.67 m/s to 1.67 m/s
+* _x_ acceleration range from -3.0 m/s<sup>2</sup> to 3.0 m/s<sup>2</sup>
+* Turning radius of 5.0 m
+
+The velocity range is based on the manufacturer's speed of 6km/hour.
+Acceleration is estimated.
+Turning radius is based on the manufacturer's specification.
+
+The constraints can be found in the following locations within the simulation model package:
+
+* Turning radius is modeled by the `AckermannSteering` plugin in the `spawner.rb` file, line 24
+* Velocity and acceleration limits applied to the `AckermannSteering` plugin in the `spawner.rb` file, lines 28-31
+* Front left wheel maximum velocity and torque &mdash; model.sdf, lines 1295-1296
+* Other wheels &mdash; just below Front Left wheel in the same file.
+
+
+## Endurance Characteristics
+This vehicle has a battery life of 14400 seconds.  This is based on the manufacturers range of 24km
+divided by a speed of 6km/hour.  The batteries are two large 12V deep cycle batteries.
+
+
+## Diversions from Physical Hardware of Karen
+Fisheye cameras are not modeled, so 4 cameras were used for simulation in place of the two fisheye cameras on the physical robot.
+
+The rear differential is modeled as two separate motors rather than one motor driving two wheels.
+
+The front wheels are driven in the simulator, but not on the physical vehicle.  This is so that the vehicle
+will make it up the slopes in the simulator.  It may also be possible to adjust the wheel friction
+parameters and only drive the rear wheels.  The manufacturer does list a 15 degree slope climbing angle
+and the simulator slopes are ~30 degrees.  Based on the weight balance, motor torque and pneumatic wheels
+I believe the physical vehicle can go to 40 degrees or so, but that has not been validated.
+
+
+# <a name="validation_links"></a>Karen Validation and Specification Links
+
+* Vehicle - https://smprobotics.com/products_autonomous_ugv/
+* VLP-16 LIDAR -  https://www.mapix.com/wp-content/uploads/2018/07/63-9229_Rev-H_Puck-_Datasheet_Web-1.pdf
+* Memsense MS-IMU3025 - https://www.memsense.com/products/ms-imu3025
+* Kakute F7 - http://www.holybro.com/product/kakute-f7-v1-5/
+* Arducam B0203 - https://www.arducam.com/product/arducam-1080p-hd-wide-angle-wdr-usb-camera-module-for-computer-2mp-1-2-7-cmos-ar0230-100-degree-mini-uvc-usb2-0-spy-webcam-board-with-3-3ft-1m-cable-for-windows-linux-mac-os-android/
+* Arducam LN008 - https://www.arducam.com/product/m25156h14/
+* D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
+* Seek Thermal Compact - https://www.thermal.com/uploads/1/0/1/3/101388544/compact-sellsheet-usa_web.pdf
+
diff --git a/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
new file mode 100644
index 00000000..74b19a3e
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
@@ -0,0 +1,778 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "AckermannSteering.hh"
+
+#include <ignition/msgs/odometry.pb.h>
+
+#include <limits>
+#include <mutex>
+#include <set>
+#include <string>
+#include <vector>
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Angle.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/CanonicalLink.hh"
+#include "ignition/gazebo/components/JointPosition.hh"
+#include "ignition/gazebo/components/JointVelocityCmd.hh"
+#include "ignition/gazebo/Link.hh"
+#include "ignition/gazebo/Model.hh"
+#include "ignition/gazebo/Util.hh"
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Velocity command.
+struct Commands
+{
+  /// \brief Linear velocity.
+  double lin;
+
+  /// \brief Angular velocity.
+  double ang;
+
+  Commands() : lin(0.0), ang(0.0) {}
+};
+
+class ignition::gazebo::systems::AckermannSteeringPrivate
+{
+  /// \brief Callback for velocity subscription
+  /// \param[in] _msg Velocity message
+  public: void OnCmdVel(const ignition::msgs::Twist &_msg);
+
+  /// \brief Update odometry and publish an odometry message.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Update the linear and angular velocities.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Ignition communication node.
+  public: transport::Node node;
+
+  /// \brief Entity of the left joint
+  public: std::vector<Entity> leftJoints;
+
+  /// \brief Entity of the right joint
+  public: std::vector<Entity> rightJoints;
+
+  /// \brief Entity of the left steering joint
+  public: std::vector<Entity> leftSteeringJoints;
+
+  /// \brief Entity of the right steering joint
+  public: std::vector<Entity> rightSteeringJoints;
+
+  /// \brief Name of left joint
+  public: std::vector<std::string> leftJointNames;
+
+  /// \brief Name of right joint
+  public: std::vector<std::string> rightJointNames;
+
+  /// \brief Name of left steering joint
+  public: std::vector<std::string> leftSteeringJointNames;
+
+  /// \brief Name of right steering joint
+  public: std::vector<std::string> rightSteeringJointNames;
+
+  /// \brief Calculated speed of left wheel joint(s)
+  public: double leftJointSpeed{0};
+
+  /// \brief Calculated speed of right wheel joint(s)
+  public: double rightJointSpeed{0};
+
+  /// \brief Calculated speed of left joint
+  public: double leftSteeringJointSpeed{0};
+
+  /// \brief Calculated speed of right joint
+  public: double rightSteeringJointSpeed{0};
+
+  /// \brief Distance between left and right wheels
+  public: double wheelSeparation{1.0};
+
+  /// \brief Distance between left and right wheel kingpins
+  public: double kingpinWidth{0.8};
+
+  /// \brief Distance between front and back wheels
+  public: double wheelBase{1.0};
+
+  /// \brief Maximum turning angle to limit steering to
+  public: double steeringLimit{0.5};
+
+  /// \brief Wheel radius
+  public: double wheelRadius{0.2};
+
+  /// \brief Model interface
+  public: Model model{kNullEntity};
+
+  /// \brief The model's canonical link.
+  public: Link canonicalLink{kNullEntity};
+
+  /// \brief Update period calculated from <odom__publish_frequency>.
+  public: std::chrono::steady_clock::duration odomPubPeriod{0};
+
+  /// \brief Last sim time odom was published.
+  public: std::chrono::steady_clock::duration lastOdomPubTime{0};
+
+  /// \brief Ackermann steering odometry message publisher.
+  public: transport::Node::Publisher odomPub;
+
+  /// \brief Odometry X value
+  public: double odomX{0.0};
+
+  /// \brief Odometry Y value
+  public: double odomY{0.0};
+
+  /// \brief Odometry yaw value
+  public: double odomYaw{0.0};
+
+  /// \brief Odometry old left value
+  public: double odomOldLeft{0.0};
+
+  /// \brief Odometry old right value
+  public: double odomOldRight{0.0};
+
+  /// \brief Odometry last time value
+  public: std::chrono::steady_clock::duration lastOdomTime{0};
+
+  /// \brief Linear velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterLin;
+
+  /// \brief Angular velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterAng;
+
+  /// \brief Previous control command.
+  public: Commands last0Cmd;
+
+  /// \brief Previous control command to last0Cmd.
+  public: Commands last1Cmd;
+
+  /// \brief Last target velocity requested.
+  public: msgs::Twist targetVel;
+
+  /// \brief A mutex to protect the target velocity command.
+  public: std::mutex mutex;
+
+  /// \brief frame_id from sdf.
+  public: std::string sdfFrameId;
+
+  /// \brief child_frame_id from sdf.
+  public: std::string sdfChildFrameId;
+};
+
+//////////////////////////////////////////////////
+AckermannSteering::AckermannSteering()
+  : dataPtr(std::make_unique<AckermannSteeringPrivate>())
+{
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::Configure(const Entity &_entity,
+    const std::shared_ptr<const sdf::Element> &_sdf,
+    EntityComponentManager &_ecm,
+    EventManager &/*_eventMgr*/)
+{
+  this->dataPtr->model = Model(_entity);
+
+  if (!this->dataPtr->model.Valid(_ecm))
+  {
+    ignerr << "AckermannSteering plugin should be attached to a model entity. "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  // Get the canonical link
+  std::vector<Entity> links = _ecm.ChildrenByComponents(
+      this->dataPtr->model.Entity(), components::CanonicalLink());
+  if (!links.empty())
+    this->dataPtr->canonicalLink = Link(links[0]);
+
+  // Ugly, but needed because the sdf::Element::GetElement is not a const
+  // function and _sdf is a const shared pointer to a const sdf::Element.
+  auto ptr = const_cast<sdf::Element *>(_sdf.get());
+
+  // Get params from SDF
+  sdf::ElementPtr sdfElem = ptr->GetElement("left_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_joint");
+  }
+  sdfElem = ptr->GetElement("right_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_joint");
+  }
+  sdfElem = ptr->GetElement("left_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftSteeringJointNames.push_back(
+                          sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_steering_joint");
+  }
+  sdfElem = ptr->GetElement("right_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightSteeringJointNames.push_back(
+                           sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_steering_joint");
+  }
+
+  this->dataPtr->wheelSeparation = _sdf->Get<double>("wheel_separation",
+      this->dataPtr->wheelSeparation).first;
+  this->dataPtr->kingpinWidth = _sdf->Get<double>("kingpin_width",
+      this->dataPtr->kingpinWidth).first;
+  this->dataPtr->wheelBase = _sdf->Get<double>("wheel_base",
+      this->dataPtr->wheelBase).first;
+  this->dataPtr->steeringLimit = _sdf->Get<double>("steering_limit",
+      this->dataPtr->steeringLimit).first;
+  this->dataPtr->wheelRadius = _sdf->Get<double>("wheel_radius",
+      this->dataPtr->wheelRadius).first;
+
+  // Parse speed limiter parameters.
+  bool hasVelocityLimits     = false;
+  bool hasAccelerationLimits = false;
+  bool hasJerkLimits         = false;
+  double minVel              = std::numeric_limits<double>::lowest();
+  double maxVel              = std::numeric_limits<double>::max();
+  double minAccel            = std::numeric_limits<double>::lowest();
+  double maxAccel            = std::numeric_limits<double>::max();
+  double minJerk             = std::numeric_limits<double>::lowest();
+  double maxJerk             = std::numeric_limits<double>::max();
+
+  if (_sdf->HasElement("min_velocity"))
+  {
+    minVel = _sdf->Get<double>("min_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("max_velocity"))
+  {
+    maxVel = _sdf->Get<double>("max_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("min_acceleration"))
+  {
+    minAccel = _sdf->Get<double>("min_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("max_acceleration"))
+  {
+    maxAccel = _sdf->Get<double>("max_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("min_jerk"))
+  {
+    minJerk = _sdf->Get<double>("min_jerk");
+    hasJerkLimits = true;
+  }
+  if (_sdf->HasElement("max_jerk"))
+  {
+    maxJerk = _sdf->Get<double>("max_jerk");
+    hasJerkLimits = true;
+  }
+
+  // Instantiate the speed limiters.
+  this->dataPtr->limiterLin = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  this->dataPtr->limiterAng = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  double odomFreq = _sdf->Get<double>("odom_publish_frequency", 50).first;
+  if (odomFreq > 0)
+  {
+    std::chrono::duration<double> odomPer{1 / odomFreq};
+    this->dataPtr->odomPubPeriod =
+      std::chrono::duration_cast<std::chrono::steady_clock::duration>(odomPer);
+  }
+
+  // Subscribe to commands
+  std::vector<std::string> topics;
+  if (_sdf->HasElement("topic"))
+  {
+    topics.push_back(_sdf->Get<std::string>("topic"));
+  }
+  topics.push_back("/model/" + this->dataPtr->model.Name(_ecm) + "/cmd_vel");
+  auto topic = validTopic(topics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->node.Subscribe(topic, &AckermannSteeringPrivate::OnCmdVel,
+      this->dataPtr.get());
+
+  std::vector<std::string> odomTopics;
+  if (_sdf->HasElement("odom_topic"))
+  {
+    odomTopics.push_back(_sdf->Get<std::string>("odom_topic"));
+  }
+  odomTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) +
+      "/odometry");
+  auto odomTopic = validTopic(odomTopics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
+      odomTopic);
+
+  if (_sdf->HasElement("frame_id"))
+    this->dataPtr->sdfFrameId = _sdf->Get<std::string>("frame_id");
+
+  if (_sdf->HasElement("child_frame_id"))
+    this->dataPtr->sdfChildFrameId = _sdf->Get<std::string>("child_frame_id");
+
+  ignmsg << "AckermannSteering subscribing to twist messages on [" <<
+      topic << "]" << std::endl;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+    ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PreUpdate");
+
+  // \TODO(anyone) Support rewind
+  if (_info.dt < std::chrono::steady_clock::duration::zero())
+  {
+    ignwarn << "Detected jump back in time ["
+        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+        << "s]. System may not work properly." << std::endl;
+  }
+
+  // If the joints haven't been identified yet, look for them
+  static std::set<std::string> warnedModels;
+  auto modelName = this->dataPtr->model.Name(_ecm);
+  if (this->dataPtr->leftJoints.empty() ||
+      this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+  {
+    bool warned{false};
+    for (const std::string &name : this->dataPtr->leftJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    for (const std::string &name : this->dataPtr->leftSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left steering joint ["
+                << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right steering joint [" <<
+            name << "] for model [" << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    if (warned)
+    {
+      warnedModels.insert(modelName);
+    }
+  }
+
+  if (this->dataPtr->leftJoints.empty() || this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+    return;
+
+  if (warnedModels.find(modelName) != warnedModels.end())
+  {
+    ignmsg << "Found joints for model [" << modelName
+           << "], plugin will start working." << std::endl;
+    warnedModels.erase(modelName);
+  }
+
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  for (Entity joint : this->dataPtr->leftJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd({this->dataPtr->leftJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->leftJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd({this->dataPtr->rightJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->rightJointSpeed});
+    }
+  }
+
+  // Update steering
+  for (Entity joint : this->dataPtr->leftSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd(
+                             {this->dataPtr->leftSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                         {this->dataPtr->leftSteeringJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd(
+                  {this->dataPtr->rightSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                     {this->dataPtr->rightSteeringJointSpeed});
+    }
+  }
+
+  // Create the left and right side joint position components if they
+  // don't exist.
+  auto leftPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftJoints[0]);
+  if (!leftPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightJoints[0]);
+  if (!rightPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightJoints[0],
+        components::JointPosition());
+  }
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftSteeringJoints[0]);
+  if (!leftSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftSteeringJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightSteeringJoints[0]);
+  if (!rightSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightSteeringJoints[0],
+        components::JointPosition());
+  }
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PostUpdate(const UpdateInfo &_info,
+    const EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PostUpdate");
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  this->dataPtr->UpdateVelocity(_info, _ecm);
+  this->dataPtr->UpdateOdometry(_info, _ecm);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateOdometry(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateOdometry");
+  // Initialize, if not already initialized.
+
+  if (this->leftJoints.empty() || this->rightJoints.empty() ||
+      this->leftSteeringJoints.empty() || this->rightSteeringJoints.empty())
+    return;
+
+  // Get the first joint positions for the left and right side.
+  auto leftPos = _ecm.Component<components::JointPosition>(this->leftJoints[0]);
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->rightJoints[0]);
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftPos || !rightPos || leftPos->Data().empty() ||
+      rightPos->Data().empty() ||
+      !leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  // Calculate the odometry
+  double phi = 0.5 * (leftSteeringPos->Data()[0] + rightSteeringPos->Data()[0]);
+  double radius = this->wheelBase / tan(phi);
+  double dist = 0.5 * this->wheelRadius *
+      ((leftPos->Data()[0] - this->odomOldLeft) +
+       (rightPos->Data()[0] - this->odomOldRight));
+  double deltaAngle = dist / radius;
+  this->odomYaw += deltaAngle;
+  this->odomYaw = math::Angle(this->odomYaw).Normalized().Radian();
+  this->odomX += dist * cos(this->odomYaw);
+  this->odomY += dist * sin(this->odomYaw);
+  auto odomTimeDiff = _info.simTime - this->lastOdomTime;
+  double tdiff = std::chrono::duration<double>(odomTimeDiff).count();
+  double odomLinearVelocity = dist / tdiff;
+  double odomAngularVelocity = deltaAngle / tdiff;
+  this->lastOdomTime = _info.simTime;
+  this->odomOldLeft = leftPos->Data()[0];
+  this->odomOldRight = rightPos->Data()[0];
+
+  // Throttle odometry publishing
+  auto diff = _info.simTime - this->lastOdomPubTime;
+  if (diff > std::chrono::steady_clock::duration::zero() &&
+      diff < this->odomPubPeriod)
+  {
+    return;
+  }
+  this->lastOdomPubTime = _info.simTime;
+
+  // Construct the odometry message and publish it.
+  msgs::Odometry msg;
+  msg.mutable_pose()->mutable_position()->set_x(this->odomX);
+  msg.mutable_pose()->mutable_position()->set_y(this->odomY);
+
+  math::Quaterniond orientation(0, 0, this->odomYaw);
+  msgs::Set(msg.mutable_pose()->mutable_orientation(), orientation);
+
+  msg.mutable_twist()->mutable_linear()->set_x(odomLinearVelocity);
+  msg.mutable_twist()->mutable_angular()->set_z(odomAngularVelocity);
+
+  // Set the time stamp in the header
+  msg.mutable_header()->mutable_stamp()->CopyFrom(
+      convert<msgs::Time>(_info.simTime));
+
+  // Set the frame id.
+  auto frame = msg.mutable_header()->add_data();
+  frame->set_key("frame_id");
+  if (this->sdfFrameId.empty())
+  {
+    frame->add_value(this->model.Name(_ecm) + "/odom");
+  }
+  else
+  {
+    frame->add_value(this->sdfFrameId);
+  }
+
+  std::optional<std::string> linkName = this->canonicalLink.Name(_ecm);
+  if (this->sdfChildFrameId.empty())
+  {
+    if (linkName)
+    {
+      auto childFrame = msg.mutable_header()->add_data();
+      childFrame->set_key("child_frame_id");
+      childFrame->add_value(this->model.Name(_ecm) + "/" + *linkName);
+    }
+  }
+  else
+  {
+    auto childFrame = msg.mutable_header()->add_data();
+    childFrame->set_key("child_frame_id");
+    childFrame->add_value(this->sdfChildFrameId);
+  }
+
+  // Publish the message
+  this->odomPub.Publish(msg);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateVelocity(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateVelocity");
+
+  double linVel;
+  double angVel;
+  {
+    std::lock_guard<std::mutex> lock(this->mutex);
+    linVel = this->targetVel.linear().x();
+    angVel = this->targetVel.angular().z();
+  }
+
+  const double dt = std::chrono::duration<double>(_info.dt).count();
+
+  // Limit the target velocity if needed.
+  this->limiterLin->Limit(linVel, this->last0Cmd.lin, this->last1Cmd.lin, dt);
+  this->limiterAng->Limit(angVel, this->last0Cmd.ang, this->last1Cmd.ang, dt);
+
+  // Update history of commands.
+  this->last1Cmd = last0Cmd;
+  this->last0Cmd.lin = linVel;
+  this->last0Cmd.ang = angVel;
+
+  // Convert the target velocities to joint velocities and angles
+  double turningRadius = linVel / angVel;
+  double minimumTurningRadius = this->wheelBase / sin(this->steeringLimit);
+  if ((turningRadius >= 0.0) && (turningRadius < minimumTurningRadius))
+  {
+    turningRadius = minimumTurningRadius;
+  }
+  if ((turningRadius <= 0.0) && (turningRadius > -minimumTurningRadius))
+  {
+    turningRadius = -minimumTurningRadius;
+  }
+  // special case for angVel of zero
+  if (fabs(angVel) < 0.001)
+  {
+    turningRadius = 1000000000.0;
+  }
+
+  double leftSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius - (this->kingpinWidth / 2.0)));
+  double rightSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius + (this->kingpinWidth / 2.0)));
+  double phi = atan(this->wheelBase / turningRadius);
+
+  // Partially simulate a simple differential
+  this->rightJointSpeed =
+      (linVel * (1.0 + (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+  this->leftJointSpeed =
+      (linVel * (1.0 - (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  double leftDelta = leftSteeringJointAngle - leftSteeringPos->Data()[0];
+  double rightDelta = rightSteeringJointAngle - rightSteeringPos->Data()[0];
+
+  // Simple proportional control with a gain of 1
+  // Adding programmable PID values might be a future feature.
+  // Works as is for tested cases
+  this->leftSteeringJointSpeed = leftDelta;
+  this->rightSteeringJointSpeed = rightDelta;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::OnCmdVel(const msgs::Twist &_msg)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->targetVel = _msg;
+}
+
+IGNITION_ADD_PLUGIN(AckermannSteering,
+                    ignition::gazebo::System,
+                    AckermannSteering::ISystemConfigure,
+                    AckermannSteering::ISystemPreUpdate,
+                    AckermannSteering::ISystemPostUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(AckermannSteering,
+                          "ignition::gazebo::systems::AckermannSteering")
diff --git a/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
new file mode 100644
index 00000000..c2a7d2d4
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
@@ -0,0 +1,139 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+#define IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration
+  class AckermannSteeringPrivate;
+
+  /// \brief Ackermann steering controller which can be attached to a model
+  /// with any number of left and right wheels.
+  ///
+  /// # System Parameters
+  ///
+  /// `<left_joint>`: Name of a joint that controls a left wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<right_joint>`: Name of a joint that controls a right wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<left_steering_joint>`: Name of a joint that controls steering for
+  ///  left wheel. This element must appear once.  Vehicles that steer
+  ///  rear wheels are not currently correctly supported.
+  ///
+  /// `<right_steering_joint>`: Name of a joint that controls steering for
+  ///  right wheel. This element must appear once.
+  ///
+  /// `<wheel_separation>`: Distance between wheels, in meters. This element
+  /// is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<kingpin_width>`: Distance between wheel kingpins, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 0.8m.  Generally a bit smaller
+  /// than the wheel_separation.
+  ///
+  /// `<wheel_base>`: Distance between front and rear wheels, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<steering_limit>`: Value to limit steering to.  Can be calculated by
+  /// measuring the turning radius and wheel_base of the real vehicle.
+  /// steering_limit = asin(wheel_base / turning_radius)
+  /// The default value is 0.5 radians.
+  ///
+  /// `<wheel_radius>`: Wheel radius in meters. This element is optional,
+  /// although it is recommended to be included with an appropriate value. The
+  /// default value is 0.2m.
+  ///
+  /// `<odom_publish_frequency>`: Odometry publication frequency. This
+  /// element is optional, and the default value is 50Hz.
+  ///
+  /// '<min_velocity>': Minimum velocity [m/s], usually <= 0.
+  /// '<max_velocity>': Maximum velocity [m/s], usually >= 0.
+  /// '<min_acceleration>': Minimum acceleration [m/s^2], usually <= 0.
+  /// '<max_acceleration>': Maximum acceleration [m/s^2], usually >= 0.
+  /// '<min_jerk Minimum>': jerk [m/s^3], usually <= 0.
+  /// '<max_jerk Maximum>': jerk [m/s^3], usually >= 0.
+  ///
+  /// `<topic>`: Custom topic that this system will subscribe to in order to
+  /// receive command velocity messages. This element if optional, and the
+  /// default value is `/model/{name_of_model}/cmd_vel`.
+  ///
+  /// `<odom_topic>`: Custom topic on which this system will publish odometry
+  /// messages. This element if optional, and the default value is
+  /// `/model/{name_of_model}/odometry`.
+  ///
+  /// A robot with rear drive and front steering would have one each
+  /// of left_joint, right_joint, left_steering_joint and
+  /// right_steering_joint
+  ///
+  /// References:
+  /// https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/diff_drive
+  /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
+  /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
+
+
+  class IGNITION_GAZEBO_VISIBLE AckermannSteering
+      : public System,
+        public ISystemConfigure,
+        public ISystemPreUpdate,
+        public ISystemPostUpdate
+  {
+    /// \brief Constructor
+    public: AckermannSteering();
+
+    /// \brief Destructor
+    public: ~AckermannSteering() override = default;
+
+    // Documentation inherited
+    public: void Configure(const Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           EntityComponentManager &_ecm,
+                           EventManager &_eventMgr) override;
+
+    // Documentation inherited
+    public: void PreUpdate(
+                const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    public: void PostUpdate(
+                const UpdateInfo &_info,
+                const EntityComponentManager &_ecm) override;
+
+    /// \brief Private data pointer
+    private: std::unique_ptr<AckermannSteeringPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
diff --git a/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
new file mode 100644
index 00000000..ebae2b5b
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
@@ -0,0 +1,209 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  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 the PAL 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 WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  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.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#include <ignition/math/Helpers.hh>
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Private SpeedLimiter data class.
+class ignition::gazebo::systems::SpeedLimiterPrivate
+{
+  /// \brief Class constructor.
+  /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+  /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+  /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+  /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+  /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+  /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+  /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+  /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+  /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+  public: SpeedLimiterPrivate(bool _hasVelocityLimits,
+                              bool _hasAccelerationLimits,
+                              bool _hasJerkLimits,
+                              double _minVelocity,
+                              double _maxVelocity,
+                              double _minAcceleration,
+                              double _maxAcceleration,
+                              double _minJerk,
+                              double _maxJerk)
+    : hasVelocityLimits(_hasVelocityLimits),
+      hasAccelerationLimits(_hasAccelerationLimits),
+      hasJerkLimits(_hasJerkLimits),
+      minVelocity(_minVelocity),
+      maxVelocity(_maxVelocity),
+      minAcceleration(_minAcceleration),
+      maxAcceleration(_maxAcceleration),
+      minJerk(_minJerk),
+      maxJerk(_maxJerk)
+  {
+  }
+
+  /// \brief Enable/Disable velocity.
+  public: bool hasVelocityLimits;
+
+  /// \brief Enable/Disable acceleration.
+  public: bool hasAccelerationLimits;
+
+  /// \brief Enable/Disable jerk.
+  public: bool hasJerkLimits;
+
+  /// \brief Minimum velocity limit.
+  public: double minVelocity;
+
+  /// \brief Maximum velocity limit.
+  public: double maxVelocity;
+
+  /// \brief Minimum acceleration limit.
+  public: double minAcceleration;
+
+  /// \brief Maximum acceleration limit.
+  public: double maxAcceleration;
+
+  /// \brief Minimum jerk limit.
+  public: double minJerk;
+
+  /// \brief Maximum jerk limit.
+  public: double maxJerk;
+};
+
+//////////////////////////////////////////////////
+SpeedLimiter::SpeedLimiter(bool   _hasVelocityLimits,
+                           bool   _hasAccelerationLimits,
+                           bool   _hasJerkLimits,
+                           double _minVelocity,
+                           double _maxVelocity,
+                           double _minAcceleration,
+                           double _maxAcceleration,
+                           double _minJerk,
+                           double _maxJerk)
+  : dataPtr(std::make_unique<SpeedLimiterPrivate>(_hasVelocityLimits,
+      _hasAccelerationLimits, _hasJerkLimits, _minVelocity, _maxVelocity,
+      _minAcceleration, _maxAcceleration, _minJerk, _maxJerk))
+{
+}
+
+//////////////////////////////////////////////////
+SpeedLimiter::~SpeedLimiter()
+{
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::Limit(double &_v, double _v0, double _v1, double _dt) const
+{
+  const double tmp = _v;
+
+  this->LimitJerk(_v, _v0, _v1, _dt);
+  this->LimitAcceleration(_v, _v0, _dt);
+  this->LimitVelocity(_v);
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitVelocity(double &_v) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasVelocityLimits)
+  {
+    _v = ignition::math::clamp(
+      _v, this->dataPtr->minVelocity, this->dataPtr->maxVelocity);
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitAcceleration(double &_v, double _v0, double _dt) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasAccelerationLimits)
+  {
+    const double dvMin = this->dataPtr->minAcceleration * _dt;
+    const double dvMax = this->dataPtr->maxAcceleration * _dt;
+
+    const double dv = ignition::math::clamp(_v - _v0, dvMin, dvMax);
+
+    _v = _v0 + dv;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitJerk(double &_v, double _v0, double _v1, double _dt)
+  const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasJerkLimits)
+  {
+    const double dv  = _v  - _v0;
+    const double dv0 = _v0 - _v1;
+
+    const double dt2 = 2. * _dt * _dt;
+
+    const double daMin = this->dataPtr->minJerk * dt2;
+    const double daMax = this->dataPtr->maxJerk * dt2;
+
+    const double da = ignition::math::clamp(dv - dv0, daMin, daMax);
+
+    _v = _v0 + dv0 + da;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
diff --git a/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
new file mode 100644
index 00000000..5a86ac2b
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
@@ -0,0 +1,130 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  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 the PAL 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 WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  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.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#ifndef IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration.
+  class SpeedLimiterPrivate;
+
+  /// \brief Class to limit velocity, acceleration and jerk.
+  /// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller
+  class IGNITION_GAZEBO_VISIBLE SpeedLimiter
+  {
+    /// \brief Constructor.
+    /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+    /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+    /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+    /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+    /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+    /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+    /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+    /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+    /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+    public: SpeedLimiter(bool   _hasVelocityLimits     = false,
+                         bool   _hasAccelerationLimits = false,
+                         bool   _hasJerkLimits         = false,
+                         double _minVelocity           = 0.0,
+                         double _maxVelocity           = 0.0,
+                         double _minAcceleration       = 0.0,
+                         double _maxAcceleration       = 0.0,
+                         double _minJerk               = 0.0,
+                         double _maxJerk               = 0.0);
+
+    /// \brief Destructor.
+    public: ~SpeedLimiter();
+
+    /// \brief Limit the velocity and acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double Limit(double &_v,
+                         double _v0,
+                         double _v1,
+                         double _dt) const;
+
+    /// \brief Limit the velocity.
+    /// \param [in, out] _v Velocity [m/s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitVelocity(double &_v) const;
+
+    /// \brief Limit the acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitAcceleration(double &_v,
+                                     double _v0,
+                                     double _dt) const;
+
+    /// \brief Limit the jerk.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    /// \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control.
+    public: double LimitJerk(double &_v,
+                             double _v0,
+                             double _v1,
+                             double _dt) const;
+
+    /// \brief Private data pointer.
+    private: std::unique_ptr<SpeedLimiterPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
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diff --git a/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
new file mode 100644
index 00000000..b6738074
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
@@ -0,0 +1,406 @@
+<?xml version="1.0" ?>
+<robot name="CORO_KAREN">
+  <joint name="CORO_KAREN__front_left_wheel_steering_joint" type="revolute">
+    <parent link="CORO_KAREN__base_link"/>
+    <child link="CORO_KAREN__front_left_wheel_steering_link"/>
+    <origin rpy="0 0 0" xyz="0.465  0.22   0.1475"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  <joint name="CORO_KAREN__front_right_wheel_steering_joint" type="revolute">
+    <parent link="CORO_KAREN__base_link"/>
+    <child link="CORO_KAREN__front_right_wheel_steering_link"/>
+    <origin rpy="0 0 0" xyz="0.465  -0.22    0.1475"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  <joint name="CORO_KAREN__front_left_wheel_joint" type="revolute">
+    <parent link="CORO_KAREN__front_left_wheel_steering_link"/>
+    <child link="CORO_KAREN__front_left_wheel"/>
+    <origin rpy="0 0 0" xyz="0     0.105 -0.02"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
+  </joint>
+  <joint name="CORO_KAREN__front_right_wheel_joint" type="revolute">
+    <parent link="CORO_KAREN__front_right_wheel_steering_link"/>
+    <child link="CORO_KAREN__front_right_wheel"/>
+    <origin rpy="0 0 0" xyz="0    -0.105 -0.02"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
+  </joint>
+  <joint name="CORO_KAREN__rear_left_wheel_joint" type="revolute">
+    <parent link="CORO_KAREN__base_link"/>
+    <child link="CORO_KAREN__rear_left_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.465   0.325   0.1275"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
+  </joint>
+  <joint name="CORO_KAREN__rear_right_wheel_joint" type="revolute">
+    <parent link="CORO_KAREN__base_link"/>
+    <child link="CORO_KAREN__rear_right_wheel"/>
+    <origin rpy="0 0 0" xyz="-0.465  -0.325   0.1275"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
+  </joint>
+  <link name="CORO_KAREN__base_link">
+    <inertial>
+      <mass value="90.0"/>
+      <origin rpy="0 0 0" xyz="0      0      0.07249"/>
+      <inertia ixx="3.333" ixy="0" ixz="0" iyy="9.733" iyz="0" izz="9.733"/>
+    </inertial>
+    <collision name="CORO_KAREN__chassis_collision">
+      <origin rpy="0 0 0" xyz="0     0     0.3775"/>
+      <geometry>
+        <box size="1.1 0.7 0.4"/>
+      </geometry>
+    </collision>
+    <collision name="CORO_KAREN__tower_collision">
+      <origin rpy="0 0 0" xyz="0.13   0     0.3975"/>
+      <geometry>
+        <box size="0.2 0.2 0.34"/>
+      </geometry>
+    </collision>
+    <visual name="CORO_KAREN__chassis_main_visual">
+      <origin rpy="0 0 0" xyz="0     0     0.2775"/>
+      <geometry>
+        <box size="1.0 0.45 0.2"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__front_side">
+      <origin rpy="1.5707 0     0" xyz="0.5    0     0.4275"/>
+      <geometry>
+        <cylinder length="0.55" radius="0.07"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__back_side">
+      <origin rpy="1.5707 0     0" xyz="-0.5     0      0.4275"/>
+      <geometry>
+        <cylinder length="0.55" radius="0.07"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__left_side">
+      <origin rpy="0     1.5707 0" xyz="0     0.25   0.4275"/>
+      <geometry>
+        <cylinder length="1.0" radius="0.07"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__right_side">
+      <origin rpy="0     1.5707 0" xyz="0     -0.25    0.4275"/>
+      <geometry>
+        <cylinder length="1.0" radius="0.07"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__differential_visual">
+      <origin rpy="1.5707 0     0" xyz="-0.5     0      0.1275"/>
+      <geometry>
+        <cylinder length="0.44" radius="0.06"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__plate1_visual">
+      <origin rpy="0 0 0" xyz="0.37   0     0.7875"/>
+      <geometry>
+        <box size="0.2 0.2 0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__plate2_visual">
+      <origin rpy="0 0 0" xyz="0.37   0     0.6775"/>
+      <geometry>
+        <box size="0.2 0.2 0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__plate3_visual">
+      <origin rpy="0 0 0" xyz="0.37   0     0.4875"/>
+      <geometry>
+        <box size="0.2 0.2 0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__beam1_visual">
+      <origin rpy="0 0 0" xyz="0.461   0.091   0.63749"/>
+      <geometry>
+        <box size="0.02 0.02 0.3"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__beam2_visual">
+      <origin rpy="0 0 0" xyz="0.461   -0.091    0.63749"/>
+      <geometry>
+        <box size="0.02 0.02 0.3"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__beam3_visual">
+      <origin rpy="0 0 0" xyz="0.279  0.091  0.5375"/>
+      <geometry>
+        <box size="0.02 0.02 0.5"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__beam4_visual">
+      <origin rpy="0 0 0" xyz="0.279  -0.091   0.5375"/>
+      <geometry>
+        <box size="0.02 0.02 0.5"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__d435i_realsense_camera_visual">
+      <origin rpy="0   0.52 0" xyz="0.43   0     0.7615"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/realsense_d435.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__vlp16_visual1">
+      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_base_1.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__vlp_visual2">
+      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_base_2.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__vlp_visual3">
+      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_scan.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__emergency_stop_bottom_visual">
+      <origin rpy="0 0 0" xyz="0.13   -0.13    0.3875"/>
+      <geometry>
+        <cylinder length="0.015" radius="0.015"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__emergency_stop_top_visual">
+      <origin rpy="0 0 0" xyz="0.13   -0.13    0.3975"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.02"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__thermal_camera_visual">
+      <origin rpy="0 0 0" xyz="0.45   -0.06    0.7725"/>
+      <geometry>
+        <box size="0.02 0.03 0.03"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_front_visual">
+      <origin rpy="0 0 0" xyz="0.46   0.06   0.7725"/>
+      <geometry>
+        <box size="0.01 0.03 0.03"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_lens_front_visual">
+      <origin rpy="0      1.57079 0" xyz="0.47   0.06   0.7725"/>
+      <geometry>
+        <cylinder length="0.011" radius="0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_rear_visual">
+      <origin rpy="0 0 0" xyz="0.28   0     0.7725"/>
+      <geometry>
+        <box size="0.01 0.03 0.03"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_lens_rear_visual">
+      <origin rpy="0      1.57079 0" xyz="0.27   0     0.7725"/>
+      <geometry>
+        <cylinder length="0.011" radius="0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_left_visual">
+      <origin rpy="0 0 0" xyz="0.37   0.09   0.7725"/>
+      <geometry>
+        <box size="0.03 0.01 0.03"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_lens_left_visual">
+      <origin rpy="1.57079 0      0" xyz="0.37   0.1    0.7725"/>
+      <geometry>
+        <cylinder length="0.011" radius="0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_right_visual">
+      <origin rpy="0 0 0" xyz="0.37   -0.09    0.7725"/>
+      <geometry>
+        <box size="0.03 0.01 0.03"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__camera_lens_right_visual">
+      <origin rpy="1.57079 0      0" xyz="0.37   -0.1     0.7725"/>
+      <geometry>
+        <cylinder length="0.011" radius="0.005"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__light_front_left_visual">
+      <origin rpy="0   0   0.75" xyz="0.44   0.23   0.5375"/>
+      <geometry>
+        <box size="0.01 0.12 0.08"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__light_front_right_visual">
+      <origin rpy="0    0   -0.75" xyz="0.44   -0.23    0.5375"/>
+      <geometry>
+        <box size="0.01 0.12 0.08"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__light_rear_left_visual">
+      <origin rpy="0    0   -0.75" xyz="-0.3     0.25    0.5375"/>
+      <geometry>
+        <box size="0.01 0.12 0.08"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__light_rear_right_visual">
+      <origin rpy="0   0   0.75" xyz="-0.3    -0.25    0.5375"/>
+      <geometry>
+        <box size="0.01 0.12 0.08"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__front_left_wheel_steering_link">
+    <inertial>
+      <mass value="0.5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0153" ixy="0" ixz="0" iyy="0.025" iyz="0" izz="0.0153"/>
+    </inertial>
+    <visual name="CORO_KAREN__steering_link_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.03"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__front_right_wheel_steering_link">
+    <inertial>
+      <mass value="0.5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0153" ixy="0" ixz="0" iyy="0.025" iyz="0" izz="0.0153"/>
+    </inertial>
+    <visual name="CORO_KAREN__steering_link_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.03"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__front_left_wheel">
+    <inertial>
+      <mass value="5.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
+    </inertial>
+    <collision name="CORO_KAREN__collision">
+      <origin rpy="-1.57079  0       0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11" radius="0.175"/>
+      </geometry>
+    </collision>
+    <visual name="CORO_KAREN__tire_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__hub_visual">
+      <origin rpy="1.57079 0      0" xyz="0   -0.01  0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.04"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__axis_visual">
+      <origin rpy="1.57079 0      0" xyz="0   -0.08  0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.008"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__front_right_wheel">
+    <inertial>
+      <mass value="5.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
+    </inertial>
+    <collision name="CORO_KAREN__collision">
+      <origin rpy="1.57079 0      0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11" radius="0.175"/>
+      </geometry>
+    </collision>
+    <visual name="CORO_KAREN__tire_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__hub_visual">
+      <origin rpy="1.57079 0      0" xyz="0   0.01 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.04"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__axis_visual">
+      <origin rpy="1.57079 0      0" xyz="0   0.08 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.008"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__rear_left_wheel">
+    <inertial>
+      <mass value="5.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
+    </inertial>
+    <collision name="CORO_KAREN__collision">
+      <origin rpy="-1.57079  0       0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11" radius="0.175"/>
+      </geometry>
+    </collision>
+    <visual name="CORO_KAREN__tire_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__hub_visual">
+      <origin rpy="1.57079 0      0" xyz="0   -0.01  0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.04"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__axis_visual">
+      <origin rpy="1.57079 0      0" xyz="0   -0.08  0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.008"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="CORO_KAREN__rear_right_wheel">
+    <inertial>
+      <mass value="5.0"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
+    </inertial>
+    <collision name="CORO_KAREN__collision">
+      <origin rpy="1.57079 0      0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11" radius="0.175"/>
+      </geometry>
+    </collision>
+    <visual name="CORO_KAREN__tire_visual">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__hub_visual">
+      <origin rpy="1.57079 0      0" xyz="0   0.01 0"/>
+      <geometry>
+        <cylinder length="0.025" radius="0.04"/>
+      </geometry>
+    </visual>
+    <visual name="CORO_KAREN__axis_visual">
+      <origin rpy="1.57079 0      0" xyz="0   0.08 0"/>
+      <geometry>
+        <cylinder length="0.1" radius="0.008"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
diff --git a/submitted_models/coro_karen_sensor_config_1/worlds/example.sdf b/submitted_models/coro_karen_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..73451cc9
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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/coro_karen_sensor_config_2/CMakeLists.txt b/submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..d526a382
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_karen_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..82b70135
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,126 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <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>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannlocal.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <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>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.65</wheel_separation>
+        <kingpin_width>0.44</kingpin_width>
+        <steering_limit>0.187</steering_limit>
+        <wheel_base>0.93</wheel_base>
+        <wheel_radius>0.175</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-1.67</min_velocity>
+        <max_velocity>1.67</max_velocity>
+        <min_acceleration>-3</min_acceleration>
+        <max_acceleration>3</max_acceleration>
+      </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>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </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>
+        <disable_physics_time>3.0</disable_physics_time>
+        <topic_statistics>true</topic_statistics>
+        <breadcrumb>
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-0.64 0 0 0 0 0</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+        </breadcrumb>
+      </plugin>
+      <!-- Wheel slip -->
+      <plugin filename="libignition-gazebo-wheel-slip-system.so"
+        name="ignition::gazebo::systems::WheelSlip">
+        <wheel link_name="front_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="front_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}  breadcrumbs:=1</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_karen_sensor_config_2/package.xml b/submitted_models/coro_karen_sensor_config_2/package.xml
new file mode 100644
index 00000000..34d43656
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_karen_sensor_config_2</name>
+  <version>0.0.1</version>
+  <description>Karen is a Coordinated Robotics robot with 3D LIDAR and RGBD cameras.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>

From 35c06e4b977abe929a6d34fec92324dce4317a48 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Wed, 10 Mar 2021 15:23:44 -0800
Subject: [PATCH 02/18] Fix missing default and offset rgbd camera forward

---
 .../coro_karen_sensor_config_1/launch/vehicle_topics.launch     | 1 +
 submitted_models/coro_karen_sensor_config_1/model.sdf           | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
index 3e075f68..39623831 100755
--- a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -5,6 +5,7 @@
   <arg name="name"/>
   <arg name="link_name" value="base_link"/>
   <arg name="sensor_prefix" value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <arg name="breadcrumbs" default="0"/>
   <group ns="$(arg name)">
     <!--Create multipe bridges so that it can run in parallel-->
     <node
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index b3c80336..10a7142a 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -439,7 +439,7 @@
 	    
       <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
       <sensor name="rs_front" type="rgbd_camera">
-        <pose>0.43 0 0.634 0 0.52 0</pose>
+        <pose>0.45 0 0.634 0 0.52 0</pose>
         <always_on>1</always_on>
         <update_rate>30</update_rate>
         <camera name="rs_front">

From f0e8de36bfe55d1c99e5fcbedc317e33587caf9e Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 25 Mar 2021 11:46:33 -0700
Subject: [PATCH 03/18] Have description point to urdf

---
 .../coro_karen_sensor_config_1/launch/description.launch        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/description.launch b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
index 541f6dba..a21556d0 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/description.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="name" doc="Name of Vehicle"/>
-  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/karen_from_sdf.xacro' name:=$(arg name)"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/model.urdf' name:=$(arg name)"/>
 </launch>
 

From 41f934e0c8e4d8c026c0cce2e46b57a92b68d285 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 25 Mar 2021 11:57:07 -0700
Subject: [PATCH 04/18] Adjust update rate and range

---
 submitted_models/coro_karen_sensor_config_1/model.sdf | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 10a7142a..4f695fb3 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -513,7 +513,7 @@
           </scan>
           <range>
             <min>0.05</min>
-            <max>100</max>
+            <max>300</max>
             <resolution>0.01</resolution>
           </range>
           <noise>
@@ -637,7 +637,7 @@
       <sensor name="camera_front" type="camera">
         <pose>0.48 0.06 0.645 0 0 0</pose>
         <always_on>1</always_on>
-        <update_rate>30</update_rate>
+        <update_rate>25</update_rate>
         <camera name="camera_front">
           <horizontal_fov>1.658</horizontal_fov>
           <lens>
@@ -680,7 +680,7 @@
       <sensor name="camera_rear" type="camera">
         <pose>0.26 0 0.645 0 0 3.141592653589793</pose>
         <always_on>1</always_on>
-        <update_rate>30</update_rate>
+        <update_rate>25</update_rate>
         <camera name="camera_front">
           <horizontal_fov>1.658</horizontal_fov>
           <lens>
@@ -723,7 +723,7 @@
       <sensor name="camera_left" type="camera">
         <pose>0.37 0.11 0.645 0 0 1.5707963267948966</pose>
         <always_on>1</always_on>
-        <update_rate>30</update_rate>
+        <update_rate>25</update_rate>
         <camera name="camera_front">
           <horizontal_fov>1.658</horizontal_fov>
           <lens>
@@ -766,7 +766,7 @@
       <sensor name="camera_right" type="camera">
         <pose>0.37 -0.11 0.645 0 0 -1.5707963267948966</pose>
         <always_on>1</always_on>
-        <update_rate>30</update_rate>
+        <update_rate>25</update_rate>
         <camera name="camera_front">
           <horizontal_fov>1.658</horizontal_fov>
           <lens>

From 1e7258697d0fdb57bd582d87fc5ee04dac2d673e Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 25 Mar 2021 12:06:03 -0700
Subject: [PATCH 05/18] Adjust velocity limit to 1.0 until validation data
 available

---
 submitted_models/coro_karen_sensor_config_1/launch/spawner.rb | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
index 630fa77f..21e0c213 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -25,8 +25,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <wheel_base>0.93</wheel_base>
         <wheel_radius>0.175</wheel_radius>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1.67</min_velocity>
-        <max_velocity>1.67</max_velocity>
+        <min_velocity>-1.0</min_velocity>
+        <max_velocity>1.0</max_velocity>
         <min_acceleration>-3</min_acceleration>
         <max_acceleration>3</max_acceleration>
       </plugin>

From 81a54e1bd762bda124480a816fba82caef1a8769 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 25 Mar 2021 12:06:58 -0700
Subject: [PATCH 06/18] Add compass/alt bridge, optical frame publishers

---
 .../launch/vehicle_topics.launch              | 60 +++++++++++++++++--
 1 file changed, 56 insertions(+), 4 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
index 39623831..f8730a7d 100755
--- a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -8,6 +8,8 @@
   <arg name="breadcrumbs" default="0"/>
   <group ns="$(arg name)">
     <!--Create multipe bridges so that it can run in parallel-->
+
+    <!-- Compass with IMU -->
     <node
       pkg="ros_ign_bridge"
       type="parameter_bridge"
@@ -15,6 +17,22 @@
       args="$(arg sensor_prefix)/imu_sensor/imu@sensor_msgs/Imu[ignition.msgs.IMU">
       <remap from="$(arg sensor_prefix)/imu_sensor/imu" to="imu/data"/>
     </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_magnetometer"
+      args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+      <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
 
     <group ns="front_thermal">
       <!-- Thermal Camera -->
@@ -125,7 +143,16 @@
 	args="$(arg sensor_prefix)/camera_front/image">
       <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
     </node>
-    
+    <node>
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher">
+      <remap from="input/image" to="camera_front/image_raw" />
+      <remap from="output/image" to="camera_front/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_front/camera_info" />
+      <remap from="output/camera_info" to="camera_front/optical/camera_info" />
+    </node>
+
     <!-- Rear monocular camera -->
     <node
 	pkg="ros_ign_bridge"
@@ -141,6 +168,15 @@
 	args="$(arg sensor_prefix)/camera_rear/image">
       <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
     </node>
+    <node>
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher">
+      <remap from="input/image" to="camera_rear/image_raw" />
+      <remap from="output/image" to="camera_rear/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_rear/camera_info" />
+      <remap from="output/camera_info" to="camera_rear/optical/camera_info" />
+    </node>
 
     <!-- Left monocular camera -->
     <node
@@ -157,7 +193,16 @@
 	args="$(arg sensor_prefix)/camera_left/image">
       <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
     </node>
-  
+    <node>
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
     <!-- Right monocular camera -->
     <node
 	pkg="ros_ign_bridge"
@@ -173,8 +218,15 @@
 	args="$(arg sensor_prefix)/camera_right/image">
       <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
     </node>
-
-
+    <node>
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
     
     
     <node

From 23b16b8d5d6cc500e14b70b32103a95ba8f4d125 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 25 Mar 2021 13:15:25 -0700
Subject: [PATCH 07/18] Adjust camera resolution per review comment

---
 .../coro_karen_sensor_config_1/model.sdf      | 48 +++++++++----------
 1 file changed, 24 insertions(+), 24 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 4f695fb3..1453d57c 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -643,12 +643,12 @@
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>219.9333</fx>
-              <fy>219.9333</fy>
+              <fx>329.9</fx>
+              <fy>329.9</fy>
               <!-- cx = ( width - 1 ) / 2 -->
-              <cx>239.5</cx>
+              <cx>359.5</cx>
               <!-- cy = ( height - 1 ) / 2 -->
-              <cy>319.5</cy>
+              <cy>539.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -661,8 +661,8 @@
             <center>0.5 0.5</center>
           </distortion>
           <image>
-            <width>480</width>
-            <height>640</height>
+            <width>720</width>
+            <height>1080</height>
             <format>R8G8B8</format>
           </image>
           <clip>
@@ -686,12 +686,12 @@
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>219.9333</fx>
-              <fy>219.9333</fy>
+              <fx>329.9</fx>
+              <fy>329.9</fy>
               <!-- cx = ( width - 1 ) / 2 -->
-              <cx>239.5</cx>
+              <cx>359.5</cx>
               <!-- cy = ( height - 1 ) / 2 -->
-              <cy>319.5</cy>
+              <cy>539.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -704,8 +704,8 @@
             <center>0.5 0.5</center>
           </distortion>
           <image>
-            <width>480</width>
-            <height>640</height>
+            <width>720</width>
+            <height>1080</height>
             <format>R8G8B8</format>
           </image>
           <clip>
@@ -729,12 +729,12 @@
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>219.9333</fx>
-              <fy>219.9333</fy>
+              <fx>329.9</fx>
+              <fy>329.9</fy>
               <!-- cx = ( width - 1 ) / 2 -->
-              <cx>239.5</cx>
+              <cx>359.5</cx>
               <!-- cy = ( height - 1 ) / 2 -->
-              <cy>319.5</cy>
+              <cy>539.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -747,8 +747,8 @@
             <center>0.5 0.5</center>
           </distortion>
           <image>
-            <width>480</width>
-            <height>640</height>
+            <width>720</width>
+            <height>1080</height>
             <format>R8G8B8</format>
           </image>
           <clip>
@@ -772,12 +772,12 @@
           <lens>
             <intrinsics>
               <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-              <fx>219.9333</fx>
-              <fy>219.9333</fy>
+              <fx>329.9</fx>
+              <fy>329.9</fy>
               <!-- cx = ( width - 1 ) / 2 -->
-              <cx>239.5</cx>
+              <cx>359.5</cx>
               <!-- cy = ( height - 1 ) / 2 -->
-              <cy>319.5</cy>
+              <cy>539.5</cy>
               <s>0</s>
             </intrinsics>
           </lens>
@@ -790,8 +790,8 @@
             <center>0.5 0.5</center>
           </distortion>
           <image>
-            <width>480</width>
-            <height>640</height>
+            <width>720</width>
+            <height>1080</height>
             <format>R8G8B8</format>
           </image>
           <clip>

From d0983061189b1beb81ef5eacfeba9e5b6de7df89 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Fri, 26 Mar 2021 12:14:29 -0700
Subject: [PATCH 08/18] Wrong 100 was changed to 300, unique names

---
 .../launch/vehicle_topics.launch                          | 8 ++++----
 submitted_models/coro_karen_sensor_config_1/model.sdf     | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
index f8730a7d..13cdec1e 100755
--- a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -146,7 +146,7 @@
     <node>
       pkg="subt_ros"
       type="optical_frame_publisher"
-      name="optical_frame_publisher">
+      name="optical_frame_publisher_front">
       <remap from="input/image" to="camera_front/image_raw" />
       <remap from="output/image" to="camera_front/optical/image_raw" />
       <remap from="input/camera_info" to="camera_front/camera_info" />
@@ -171,7 +171,7 @@
     <node>
       pkg="subt_ros"
       type="optical_frame_publisher"
-      name="optical_frame_publisher">
+      name="optical_frame_publisher_rear">
       <remap from="input/image" to="camera_rear/image_raw" />
       <remap from="output/image" to="camera_rear/optical/image_raw" />
       <remap from="input/camera_info" to="camera_rear/camera_info" />
@@ -196,7 +196,7 @@
     <node>
       pkg="subt_ros"
       type="optical_frame_publisher"
-      name="optical_frame_publisher">
+      name="optical_frame_publisher_left">
       <remap from="input/image" to="camera_left/image_raw" />
       <remap from="output/image" to="camera_left/optical/image_raw" />
       <remap from="input/camera_info" to="camera_left/camera_info" />
@@ -221,7 +221,7 @@
     <node>
       pkg="subt_ros"
       type="optical_frame_publisher"
-      name="optical_frame_publisher">
+      name="optical_frame_publisher_right">
       <remap from="input/image" to="camera_right/image_raw" />
       <remap from="output/image" to="camera_right/optical/image_raw" />
       <remap from="input/camera_info" to="camera_right/camera_info" />
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 1453d57c..6198fbdc 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -428,7 +428,7 @@
           </image>
           <clip>
             <near>0.1</near>
-            <far>100</far>
+            <far>300</far>
           </clip>
         </camera>
         <always_on>1</always_on>
@@ -513,7 +513,7 @@
           </scan>
           <range>
             <min>0.05</min>
-            <max>300</max>
+            <max>100</max>
             <resolution>0.01</resolution>
           </range>
           <noise>

From d393c7585857cf49f0bf42e4f885792f42791303 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Fri, 26 Mar 2021 12:46:36 -0700
Subject: [PATCH 09/18] node fix

---
 .../launch/vehicle_topics.launch                          | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
index 13cdec1e..4ed29c31 100755
--- a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -143,7 +143,7 @@
 	args="$(arg sensor_prefix)/camera_front/image">
       <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
     </node>
-    <node>
+    <node
       pkg="subt_ros"
       type="optical_frame_publisher"
       name="optical_frame_publisher_front">
@@ -168,7 +168,7 @@
 	args="$(arg sensor_prefix)/camera_rear/image">
       <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
     </node>
-    <node>
+    <node
       pkg="subt_ros"
       type="optical_frame_publisher"
       name="optical_frame_publisher_rear">
@@ -193,7 +193,7 @@
 	args="$(arg sensor_prefix)/camera_left/image">
       <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
     </node>
-    <node>
+    <node
       pkg="subt_ros"
       type="optical_frame_publisher"
       name="optical_frame_publisher_left">
@@ -218,7 +218,7 @@
 	args="$(arg sensor_prefix)/camera_right/image">
       <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
     </node>
-    <node>
+    <node
       pkg="subt_ros"
       type="optical_frame_publisher"
       name="optical_frame_publisher_right">

From be7a05a321e81330fca866484083a77ef5dee1da Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Mon, 29 Mar 2021 12:39:16 -0700
Subject: [PATCH 10/18] Disable description.launch / xacro / urdf

---
 .../launch/description.launch                 |   2 +
 .../urdf/model.urdf                           | 406 ------------------
 2 files changed, 2 insertions(+), 406 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/description.launch b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
index a21556d0..4a100b08 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/description.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="name" doc="Name of Vehicle"/>
+  <!--
   <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/model.urdf' name:=$(arg name)"/>
+  -->
 </launch>
 
diff --git a/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
index b6738074..e69de29b 100644
--- a/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
+++ b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
@@ -1,406 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="CORO_KAREN">
-  <joint name="CORO_KAREN__front_left_wheel_steering_joint" type="revolute">
-    <parent link="CORO_KAREN__base_link"/>
-    <child link="CORO_KAREN__front_left_wheel_steering_link"/>
-    <origin rpy="0 0 0" xyz="0.465  0.22   0.1475"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="150.0" lower="-0.6" upper="0.6" velocity="1.0"/>
-  </joint>
-  <joint name="CORO_KAREN__front_right_wheel_steering_joint" type="revolute">
-    <parent link="CORO_KAREN__base_link"/>
-    <child link="CORO_KAREN__front_right_wheel_steering_link"/>
-    <origin rpy="0 0 0" xyz="0.465  -0.22    0.1475"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="150.0" lower="-0.6" upper="0.6" velocity="1.0"/>
-  </joint>
-  <joint name="CORO_KAREN__front_left_wheel_joint" type="revolute">
-    <parent link="CORO_KAREN__front_left_wheel_steering_link"/>
-    <child link="CORO_KAREN__front_left_wheel"/>
-    <origin rpy="0 0 0" xyz="0     0.105 -0.02"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
-  </joint>
-  <joint name="CORO_KAREN__front_right_wheel_joint" type="revolute">
-    <parent link="CORO_KAREN__front_right_wheel_steering_link"/>
-    <child link="CORO_KAREN__front_right_wheel"/>
-    <origin rpy="0 0 0" xyz="0    -0.105 -0.02"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
-  </joint>
-  <joint name="CORO_KAREN__rear_left_wheel_joint" type="revolute">
-    <parent link="CORO_KAREN__base_link"/>
-    <child link="CORO_KAREN__rear_left_wheel"/>
-    <origin rpy="0 0 0" xyz="-0.465   0.325   0.1275"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
-  </joint>
-  <joint name="CORO_KAREN__rear_right_wheel_joint" type="revolute">
-    <parent link="CORO_KAREN__base_link"/>
-    <child link="CORO_KAREN__rear_right_wheel"/>
-    <origin rpy="0 0 0" xyz="-0.465  -0.325   0.1275"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="35.0" lower="-1.79769e+308" upper="1.79769e+308" velocity="9.71"/>
-  </joint>
-  <link name="CORO_KAREN__base_link">
-    <inertial>
-      <mass value="90.0"/>
-      <origin rpy="0 0 0" xyz="0      0      0.07249"/>
-      <inertia ixx="3.333" ixy="0" ixz="0" iyy="9.733" iyz="0" izz="9.733"/>
-    </inertial>
-    <collision name="CORO_KAREN__chassis_collision">
-      <origin rpy="0 0 0" xyz="0     0     0.3775"/>
-      <geometry>
-        <box size="1.1 0.7 0.4"/>
-      </geometry>
-    </collision>
-    <collision name="CORO_KAREN__tower_collision">
-      <origin rpy="0 0 0" xyz="0.13   0     0.3975"/>
-      <geometry>
-        <box size="0.2 0.2 0.34"/>
-      </geometry>
-    </collision>
-    <visual name="CORO_KAREN__chassis_main_visual">
-      <origin rpy="0 0 0" xyz="0     0     0.2775"/>
-      <geometry>
-        <box size="1.0 0.45 0.2"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__front_side">
-      <origin rpy="1.5707 0     0" xyz="0.5    0     0.4275"/>
-      <geometry>
-        <cylinder length="0.55" radius="0.07"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__back_side">
-      <origin rpy="1.5707 0     0" xyz="-0.5     0      0.4275"/>
-      <geometry>
-        <cylinder length="0.55" radius="0.07"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__left_side">
-      <origin rpy="0     1.5707 0" xyz="0     0.25   0.4275"/>
-      <geometry>
-        <cylinder length="1.0" radius="0.07"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__right_side">
-      <origin rpy="0     1.5707 0" xyz="0     -0.25    0.4275"/>
-      <geometry>
-        <cylinder length="1.0" radius="0.07"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__differential_visual">
-      <origin rpy="1.5707 0     0" xyz="-0.5     0      0.1275"/>
-      <geometry>
-        <cylinder length="0.44" radius="0.06"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__plate1_visual">
-      <origin rpy="0 0 0" xyz="0.37   0     0.7875"/>
-      <geometry>
-        <box size="0.2 0.2 0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__plate2_visual">
-      <origin rpy="0 0 0" xyz="0.37   0     0.6775"/>
-      <geometry>
-        <box size="0.2 0.2 0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__plate3_visual">
-      <origin rpy="0 0 0" xyz="0.37   0     0.4875"/>
-      <geometry>
-        <box size="0.2 0.2 0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__beam1_visual">
-      <origin rpy="0 0 0" xyz="0.461   0.091   0.63749"/>
-      <geometry>
-        <box size="0.02 0.02 0.3"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__beam2_visual">
-      <origin rpy="0 0 0" xyz="0.461   -0.091    0.63749"/>
-      <geometry>
-        <box size="0.02 0.02 0.3"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__beam3_visual">
-      <origin rpy="0 0 0" xyz="0.279  0.091  0.5375"/>
-      <geometry>
-        <box size="0.02 0.02 0.5"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__beam4_visual">
-      <origin rpy="0 0 0" xyz="0.279  -0.091   0.5375"/>
-      <geometry>
-        <box size="0.02 0.02 0.5"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__d435i_realsense_camera_visual">
-      <origin rpy="0   0.52 0" xyz="0.43   0     0.7615"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/realsense_d435.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__vlp16_visual1">
-      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_base_1.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__vlp_visual2">
-      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_base_2.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__vlp_visual3">
-      <origin rpy="0 0 0" xyz="0.37   0     0.6795"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/VLP16_scan.dae" scale="1 1 1"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__emergency_stop_bottom_visual">
-      <origin rpy="0 0 0" xyz="0.13   -0.13    0.3875"/>
-      <geometry>
-        <cylinder length="0.015" radius="0.015"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__emergency_stop_top_visual">
-      <origin rpy="0 0 0" xyz="0.13   -0.13    0.3975"/>
-      <geometry>
-        <cylinder length="0.005" radius="0.02"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__thermal_camera_visual">
-      <origin rpy="0 0 0" xyz="0.45   -0.06    0.7725"/>
-      <geometry>
-        <box size="0.02 0.03 0.03"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_front_visual">
-      <origin rpy="0 0 0" xyz="0.46   0.06   0.7725"/>
-      <geometry>
-        <box size="0.01 0.03 0.03"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_lens_front_visual">
-      <origin rpy="0      1.57079 0" xyz="0.47   0.06   0.7725"/>
-      <geometry>
-        <cylinder length="0.011" radius="0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_rear_visual">
-      <origin rpy="0 0 0" xyz="0.28   0     0.7725"/>
-      <geometry>
-        <box size="0.01 0.03 0.03"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_lens_rear_visual">
-      <origin rpy="0      1.57079 0" xyz="0.27   0     0.7725"/>
-      <geometry>
-        <cylinder length="0.011" radius="0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_left_visual">
-      <origin rpy="0 0 0" xyz="0.37   0.09   0.7725"/>
-      <geometry>
-        <box size="0.03 0.01 0.03"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_lens_left_visual">
-      <origin rpy="1.57079 0      0" xyz="0.37   0.1    0.7725"/>
-      <geometry>
-        <cylinder length="0.011" radius="0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_right_visual">
-      <origin rpy="0 0 0" xyz="0.37   -0.09    0.7725"/>
-      <geometry>
-        <box size="0.03 0.01 0.03"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__camera_lens_right_visual">
-      <origin rpy="1.57079 0      0" xyz="0.37   -0.1     0.7725"/>
-      <geometry>
-        <cylinder length="0.011" radius="0.005"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__light_front_left_visual">
-      <origin rpy="0   0   0.75" xyz="0.44   0.23   0.5375"/>
-      <geometry>
-        <box size="0.01 0.12 0.08"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__light_front_right_visual">
-      <origin rpy="0    0   -0.75" xyz="0.44   -0.23    0.5375"/>
-      <geometry>
-        <box size="0.01 0.12 0.08"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__light_rear_left_visual">
-      <origin rpy="0    0   -0.75" xyz="-0.3     0.25    0.5375"/>
-      <geometry>
-        <box size="0.01 0.12 0.08"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__light_rear_right_visual">
-      <origin rpy="0   0   0.75" xyz="-0.3    -0.25    0.5375"/>
-      <geometry>
-        <box size="0.01 0.12 0.08"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__front_left_wheel_steering_link">
-    <inertial>
-      <mass value="0.5"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.0153" ixy="0" ixz="0" iyy="0.025" iyz="0" izz="0.0153"/>
-    </inertial>
-    <visual name="CORO_KAREN__steering_link_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.03"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__front_right_wheel_steering_link">
-    <inertial>
-      <mass value="0.5"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.0153" ixy="0" ixz="0" iyy="0.025" iyz="0" izz="0.0153"/>
-    </inertial>
-    <visual name="CORO_KAREN__steering_link_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.03"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__front_left_wheel">
-    <inertial>
-      <mass value="5.0"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
-    </inertial>
-    <collision name="CORO_KAREN__collision">
-      <origin rpy="-1.57079  0       0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.11" radius="0.175"/>
-      </geometry>
-    </collision>
-    <visual name="CORO_KAREN__tire_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__hub_visual">
-      <origin rpy="1.57079 0      0" xyz="0   -0.01  0"/>
-      <geometry>
-        <cylinder length="0.025" radius="0.04"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__axis_visual">
-      <origin rpy="1.57079 0      0" xyz="0   -0.08  0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.008"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__front_right_wheel">
-    <inertial>
-      <mass value="5.0"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
-    </inertial>
-    <collision name="CORO_KAREN__collision">
-      <origin rpy="1.57079 0      0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.11" radius="0.175"/>
-      </geometry>
-    </collision>
-    <visual name="CORO_KAREN__tire_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__hub_visual">
-      <origin rpy="1.57079 0      0" xyz="0   0.01 0"/>
-      <geometry>
-        <cylinder length="0.025" radius="0.04"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__axis_visual">
-      <origin rpy="1.57079 0      0" xyz="0   0.08 0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.008"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__rear_left_wheel">
-    <inertial>
-      <mass value="5.0"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
-    </inertial>
-    <collision name="CORO_KAREN__collision">
-      <origin rpy="-1.57079  0       0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.11" radius="0.175"/>
-      </geometry>
-    </collision>
-    <visual name="CORO_KAREN__tire_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__hub_visual">
-      <origin rpy="1.57079 0      0" xyz="0   -0.01  0"/>
-      <geometry>
-        <cylinder length="0.025" radius="0.04"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__axis_visual">
-      <origin rpy="1.57079 0      0" xyz="0   -0.08  0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.008"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="CORO_KAREN__rear_right_wheel">
-    <inertial>
-      <mass value="5.0"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="0.043" ixy="0" ixz="0" iyy="0.076" iyz="0" izz="0.043"/>
-    </inertial>
-    <collision name="CORO_KAREN__collision">
-      <origin rpy="1.57079 0      0" xyz="0 0 0"/>
-      <geometry>
-        <cylinder length="0.11" radius="0.175"/>
-      </geometry>
-    </collision>
-    <visual name="CORO_KAREN__tire_visual">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://coro_karen_sensor_config_1/meshes/wheel.dae" scale="1.01 1.0 1.01"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__hub_visual">
-      <origin rpy="1.57079 0      0" xyz="0   0.01 0"/>
-      <geometry>
-        <cylinder length="0.025" radius="0.04"/>
-      </geometry>
-    </visual>
-    <visual name="CORO_KAREN__axis_visual">
-      <origin rpy="1.57079 0      0" xyz="0   0.08 0"/>
-      <geometry>
-        <cylinder length="0.1" radius="0.008"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>

From c2c7086662216b60ba91b00792d3860e6a449a98 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Mon, 29 Mar 2021 12:59:37 -0700
Subject: [PATCH 11/18] Fix incorrect battery life, fix incorrect velocity in
 config_2

---
 .../coro_karen_sensor_config_1/launch/spawner.rb            | 2 +-
 .../coro_karen_sensor_config_2/launch/spawner.rb            | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
index 21e0c213..88d2b843 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -53,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <capacity>78.4</capacity>
         <resistance>0.061523</resistance>
         <smooth_current_tau>1.9499</smooth_current_tau>
-        <power_load>6.6</power_load>
+        <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
       </plugin>
       <!-- Gas Sensor plugin -->"
diff --git a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
index 82b70135..a2f2a116 100644
--- a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
@@ -25,8 +25,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <wheel_base>0.93</wheel_base>
         <wheel_radius>0.175</wheel_radius>
         <topic>/model/#{_name}/cmd_vel_relay</topic>
-        <min_velocity>-1.67</min_velocity>
-        <max_velocity>1.67</max_velocity>
+        <min_velocity>-1.0</min_velocity>
+        <max_velocity>1.0</max_velocity>
         <min_acceleration>-3</min_acceleration>
         <max_acceleration>3</max_acceleration>
       </plugin>
@@ -53,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <capacity>78.4</capacity>
         <resistance>0.061523</resistance>
         <smooth_current_tau>1.9499</smooth_current_tau>
-        <power_load>6.6</power_load>
+        <power_load>9.9</power_load>
         <start_on_motion>true</start_on_motion>
       </plugin>
       <!-- Gas Sensor plugin -->"

From 4bde7612879b76f9ecdb38c467fb5e46c6650687 Mon Sep 17 00:00:00 2001
From: knoedler <knoedler@dslextreme.com>
Date: Wed, 31 Mar 2021 14:11:46 -0700
Subject: [PATCH 12/18]  Model submission for Karen ground robot sensor
 configuration 1 and 2 from Coordinated Robotics (#815)

* Add Coordinated Robotics Karen.  Ackermann Steered Robot

* Fix missing default and offset rgbd camera forward

* Have description point to urdf

* Adjust update rate and range

* Adjust velocity limit to 1.0 until validation data available

* Add compass/alt bridge, optical frame publishers

* Adjust camera resolution per review comment

* Wrong 100 was changed to 300, unique names

* node fix

* Disable description.launch / xacro / urdf

* Fix incorrect battery life, fix incorrect velocity in config_2

Co-authored-by: Kevin <ak619@lafn.org>
---
 .../coro_karen_sensor_config_1/CMakeLists.txt |    56 +
 .../launch/description.launch                 |     8 +
 .../launch/example.ign                        |   170 +
 .../launch/spawner.rb                         |   109 +
 .../launch/vehicle_topics.launch              |   302 +
 .../meshes/VLP16_base_1.dae                   |    89 +
 .../meshes/VLP16_base_2.dae                   |    89 +
 .../meshes/VLP16_scan.dae                     |    89 +
 .../meshes/realsense_d435.dae                 |   134 +
 .../meshes/wheel.dae                          | 49570 ++++++++++++++++
 .../coro_karen_sensor_config_1/model.config   |    12 +
 .../coro_karen_sensor_config_1/model.sdf      |  1347 +
 .../model.sdf.urban                           |  1097 +
 .../coro_karen_sensor_config_1/package.xml    |    24 +
 .../specifications.md                         |   106 +
 .../src/AckermannSteering.cc                  |   778 +
 .../src/AckermannSteering.hh                  |   139 +
 .../src/SpeedLimiter.cc                       |   209 +
 .../src/SpeedLimiter.hh                       |   130 +
 .../thumbnails/1.png                          |   Bin 0 -> 120307 bytes
 .../thumbnails/2.png                          |   Bin 0 -> 53197 bytes
 .../thumbnails/3.png                          |   Bin 0 -> 64830 bytes
 .../thumbnails/4.png                          |   Bin 0 -> 77225 bytes
 .../thumbnails/5.png                          |   Bin 0 -> 68869 bytes
 .../urdf/model.urdf                           |     0
 .../worlds/example.sdf                        |   183 +
 .../coro_karen_sensor_config_2/CMakeLists.txt |     8 +
 .../launch/spawner.rb                         |   126 +
 .../coro_karen_sensor_config_2/package.xml    |    24 +
 29 files changed, 54799 insertions(+)
 create mode 100644 submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/description.launch
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/example.ign
 create mode 100644 submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
 create mode 100755 submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/VLP16_scan.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.config
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.sdf
 create mode 100644 submitted_models/coro_karen_sensor_config_1/model.sdf.urban
 create mode 100644 submitted_models/coro_karen_sensor_config_1/package.xml
 create mode 100644 submitted_models/coro_karen_sensor_config_1/specifications.md
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
 create mode 100644 submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/1.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/2.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/3.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/4.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/thumbnails/5.png
 create mode 100644 submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
 create mode 100644 submitted_models/coro_karen_sensor_config_1/worlds/example.sdf
 create mode 100644 submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
 create mode 100644 submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
 create mode 100644 submitted_models/coro_karen_sensor_config_2/package.xml

diff --git a/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..8a3bcbf2
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_karen_sensor_config_1)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  message_runtime
+  std_msgs
+  geometry_msgs
+)
+
+
+find_package(ignition-gazebo4 REQUIRED)
+find_package(ignition-transport9 REQUIRED)
+find_package(ignition-common3 REQUIRED)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime roscpp std_msgs geometry_msgs
+)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_library(ackermannlocal SHARED
+  src/AckermannSteering.cc
+  src/SpeedLimiter.cc
+)
+
+target_link_libraries(ackermannlocal
+  PUBLIC ${catkin_LIBRARIES}
+  PRIVATE ignition-plugin1::ignition-plugin1
+  PRIVATE ignition-gazebo4::ignition-gazebo4
+  PRIVATE ignition-common3::ignition-common3
+  PRIVATE ignition-transport9::ignition-transport9
+  PRIVATE Eigen3::Eigen
+)
+
+
+install(TARGETS ackermannlocal
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  )
+
+install(DIRECTORY launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/description.launch b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..4a100b08
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <!--
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/model.urdf' name:=$(arg name)"/>
+  -->
+</launch>
+
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/example.ign b/submitted_models/coro_karen_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..8d4901a4
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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 = 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/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..88d2b843
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,109 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <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>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannlocal.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <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>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.65</wheel_separation>
+        <kingpin_width>0.44</kingpin_width>
+        <steering_limit>0.187</steering_limit>
+        <wheel_base>0.93</wheel_base>
+        <wheel_radius>0.175</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-1.0</min_velocity>
+        <max_velocity>1.0</max_velocity>
+        <min_acceleration>-3</min_acceleration>
+        <max_acceleration>3</max_acceleration>
+      </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>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </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>9.9</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>
+      <!-- Wheel slip -->
+      <plugin filename="libignition-gazebo-wheel-slip-system.so"
+        name="ignition::gazebo::systems::WheelSlip">
+        <wheel link_name="front_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="front_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
new file mode 100755
index 00000000..4ed29c31
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,302 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <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/$(arg link_name)/sensor"/>
+  <arg name="breadcrumbs" default="0"/>
+  <group ns="$(arg name)">
+    <!--Create multipe bridges so that it can run in parallel-->
+
+    <!-- Compass with 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>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_magnetometer"
+      args="$(arg sensor_prefix)/magnetometer/magnetometer@sensor_msgs/MagneticField[ignition.msgs.Magnetometer">
+      <remap from="$(arg sensor_prefix)/magnetometer/magnetometer" to="magnetic_field"/>
+    </node>
+
+    <!-- Altimeter -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_fluid_pressure"
+      args="$(arg sensor_prefix)/air_pressure/air_pressure@sensor_msgs/FluidPressure[ignition.msgs.FluidPressure">
+      <remap from="$(arg sensor_prefix)/air_pressure/air_pressure" to="air_pressure"/>
+    </node>
+
+    <group ns="front_thermal">
+      <!-- Thermal Camera -->
+      <!-- Note camera_info topic generated by ign-gazebo incorrectly removes
+           sensor name in topic string -->
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_thermal_camera"
+        args="$(arg sensor_prefix)/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/camera_info" to="thermal_camera/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_thermal_camera"
+        args="$(arg sensor_prefix)/thermal_camera">
+        <remap from="$(arg sensor_prefix)/thermal_camera" to="thermal_camera/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_image_thermal_camera">
+        <remap from="input/image" to="thermal_camera/image_raw" />
+        <remap from="output/image" to="thermal_camera/optical/image_raw" />
+        <remap from="input/camera_info" to="thermal_camera/camera_info" />
+        <remap from="output/camera_info" to="thermal_camera/optical/camera_info" />
+      </node>
+    </group>
+
+
+    <!--Front RGBD camera -->
+    <group ns="front_rgbd">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/rs_front/image">
+        <remap from="$(arg sensor_prefix)/rs_front/image" to="image_raw"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_rgbd"
+        args="$(arg sensor_prefix)/rs_front/points@sensor_msgs/PointCloud2[ignition.msgs.PointCloudPacked">
+        <remap from="$(arg sensor_prefix)/rs_front/points" to="points"/>
+      </node>
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_depth_info"
+        args="$(arg sensor_prefix)/rs_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/rs_front/camera_info" to="depth/camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_depth"
+        args="$(arg sensor_prefix)/rs_front/depth_image">
+        <remap from="$(arg sensor_prefix)/rs_front/depth_image" to="depth/image_raw"/>
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_image_front">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher_rgbd_depth_front">
+        <remap from="input/image" to="depth/image_raw" />
+        <remap from="output/image" to="optical/depth/image_raw" />
+        <remap from="input/camera_info" to="depth/camera_info" />
+        <remap from="output/camera_info" to="optical/depth/camera_info" />
+      </node>
+      <include file="$(find subt_ros)/launch/models_common/set_rate_relay.launch">
+        <arg name="name" value="ros_ign_bridge_camera_set_rate" />
+        <arg name="ign_service" value="$(arg sensor_prefix)/rs_front/set_rate" />
+        <arg name="ros_service" value="set_rate" />
+      </include>
+    </group>
+
+
+
+    <!-- Front monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_front"
+	args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_front/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_front"
+	args="$(arg sensor_prefix)/camera_front/image">
+      <remap from="$(arg sensor_prefix)/camera_front/image" to="camera_front/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_front">
+      <remap from="input/image" to="camera_front/image_raw" />
+      <remap from="output/image" to="camera_front/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_front/camera_info" />
+      <remap from="output/camera_info" to="camera_front/optical/camera_info" />
+    </node>
+
+    <!-- Rear monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_rear/camera_info" to="camera_rear/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_rear"
+	args="$(arg sensor_prefix)/camera_rear/image">
+      <remap from="$(arg sensor_prefix)/camera_rear/image" to="camera_rear/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_rear">
+      <remap from="input/image" to="camera_rear/image_raw" />
+      <remap from="output/image" to="camera_rear/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_rear/camera_info" />
+      <remap from="output/camera_info" to="camera_rear/optical/camera_info" />
+    </node>
+
+    <!-- Left monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_left"
+	args="$(arg sensor_prefix)/camera_left/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_left/camera_info" to="camera_left/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_left"
+	args="$(arg sensor_prefix)/camera_left/image">
+      <remap from="$(arg sensor_prefix)/camera_left/image" to="camera_left/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_left">
+      <remap from="input/image" to="camera_left/image_raw" />
+      <remap from="output/image" to="camera_left/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_left/camera_info" />
+      <remap from="output/camera_info" to="camera_left/optical/camera_info" />
+    </node>
+
+    <!-- Right monocular camera -->
+    <node
+	pkg="ros_ign_bridge"
+	type="parameter_bridge"
+	name="ros_ign_bridge_camera_right"
+	args="$(arg sensor_prefix)/camera_right/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+      <remap from="$(arg sensor_prefix)/camera_right/camera_info" to="camera_right/camera_info"/>
+    </node>
+    <node
+	pkg="ros_ign_image"
+	type="image_bridge"
+	name="ros_ign_image_camera_right"
+	args="$(arg sensor_prefix)/camera_right/image">
+      <remap from="$(arg sensor_prefix)/camera_right/image" to="camera_right/image_raw"/>
+    </node>
+    <node
+      pkg="subt_ros"
+      type="optical_frame_publisher"
+      name="optical_frame_publisher_right">
+      <remap from="input/image" to="camera_right/image_raw" />
+      <remap from="output/image" to="camera_right/optical/image_raw" />
+      <remap from="input/camera_info" to="camera_right/camera_info" />
+      <remap from="output/camera_info" to="camera_right/optical/camera_info" />
+    </node>
+    
+    
+    <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_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+    <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>
+
+    <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>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+    
+    <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>
+</launch>
diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_1.dae
new file mode 100644
index 00000000..d033ef37
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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" >
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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/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_base_2.dae
new file mode 100644
index 00000000..5ae0343c
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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/coro_karen_sensor_config_1/meshes/VLP16_scan.dae b/submitted_models/coro_karen_sensor_config_1/meshes/VLP16_scan.dae
new file mode 100644
index 00000000..56963288
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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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diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae b/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
new file mode 100644
index 00000000..0fac7a99
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/meshes/realsense_d435.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0 commit date:2017-09-11, commit time:10:43, hash:5bd8ac9abfa</authoring_tool>
+    </contributor>
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+    <modified>2018-08-15T10:38:07</modified>
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+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
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+  <scene>
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+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae b/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
new file mode 100644
index 00000000..c76f842c
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
@@ -0,0 +1,49570 @@
+<?xml version="1.0" encoding="utf-8"?>
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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 4755 4755 28356 4755 4756 28357 4756 4201 28358 4201 4755 28359 4755 4201 28360 4201 4072 28361 4072 4072 28362 4072 4201 28363 4201 4758 28364 4758 4072 28365 4072 4758 28366 4758 4757 28367 4757 4757 28368 4757 4758 28369 4758 4759 28370 4759 4757 28371 4757 4759 28372 4759 4760 28373 4760 4760 28374 4760 4759 28375 4759 4761 28376 4761 4760 28377 4760 4761 28378 4761 4071 28379 4071 4071 28380 4071 4761 28381 4761 4762 28382 4762 4071 28383 4071 4762 28384 4762 4060 28385 4060 4060 28386 4060 4762 28387 4762 4763 28388 4763 4060 28389 4060 4763 28390 4763 4059 28391 4059 4059 28392 4059 4763 28393 4763 4764 28394 4764 4059 28395 4059 4764 28396 4764 4765 28397 4765 4765 28398 4765 4764 28399 4764 4195 28400 4195 4765 28401 4765 4195 28402 4195 4766 28403 4766 4766 28404 4766 4195 28405 4195 4196 28406 4196 4766 28407 4766 4196 28408 4196 4070 28409 4070 4070 28410 4070 4196 28411 4196 4767 28412 4767 4070 28413 4070 4767 28414 4767 4069 28415 4069 4069 28416 4069 4767 28417 4767 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 28480 4304 3977 28481 3977 3977 28482 3977 4304 28483 4304 4776 28484 4776 3977 28485 3977 4776 28486 4776 3976 28487 3976 3976 28488 3976 4776 28489 4776 4777 28490 4777 3976 28491 3976 4777 28492 4777 4778 28493 4778 4778 28494 4778 4777 28495 4777 4284 28496 4284 4778 28497 4778 4284 28498 4284 4779 28499 4779 4779 28500 4779 4284 28501 4284 4780 28502 4780 4779 28503 4779 4780 28504 4780 3975 28505 3975 3975 28506 3975 4780 28507 4780 4781 28508 4781 3975 28509 3975 4781 28510 4781 4782 28511 4782 4782 28512 4782 4781 28513 4781 4285 28514 4285 4782 28515 4782 4285 28516 4285 4783 28517 4783 4783 28518 4783 4285 28519 4285 4289 28520 4289 4783 28521 4783 4289 28522 4289 3989 28523 3989 3989 28524 3989 4289 28525 4289 4784 28526 4784 3989 28527 3989 4784 28528 4784 3979 28529 3979 3979 28530 3979 4784 28531 4784 4290 28532 4290 3979 28533 3979 4290 28534 4290 4785 28535 4785 4785 28536 4785 4290 28537 4290 4786 28538 4786 4785 28539 4785 4786 28540 4786 4787 28541 4787 4787 28542 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 4801 28605 4801 4286 28606 4286 4802 28607 4802 4802 28608 4802 4286 28609 4286 4294 28610 4294 4802 28611 4802 4294 28612 4294 4803 28613 4803 4803 28614 4803 4294 28615 4294 4804 28616 4804 4803 28617 4803 4804 28618 4804 3974 28619 3974 3974 28620 3974 4804 28621 4804 4805 28622 4805 3974 28623 3974 4805 28624 4805 4806 28625 4806 4806 28626 4806 4805 28627 4805 4301 28628 4301 4806 28629 4806 4301 28630 4301 3980 28631 3980 3980 28632 3980 4301 28633 4301 4807 28634 4807 3980 28635 3980 4807 28636 4807 4808 28637 4808 4808 28638 4808 4807 28639 4807 4303 28640 4303 4808 28641 4808 4303 28642 4303 3993 28643 3993</p></triangles>
+      </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/coro_karen_sensor_config_1/model.config b/submitted_models/coro_karen_sensor_config_1/model.config
new file mode 100644
index 00000000..79dfc324
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.config
@@ -0,0 +1,12 @@
+
+<?xml version='1.0'?>
+<model>
+  <name>Cooordinated Robotics Karen Config 1</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <description>
+    The Karen robot for SubT.
+  </description>
+</model>
+
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
new file mode 100644
index 00000000..6198fbdc
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -0,0 +1,1347 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="CORO_KAREN">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.1275 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>90.0</mass>
+	<inertia>
+	  <ixx>3.333</ixx>
+	  <iyy>9.733</iyy>
+	  <izz>9.733</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.1 0.7 0.4</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="tower_collision">
+        <pose>0.13 0 0.27 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.34</size>
+          </box>
+        </geometry>
+      </collision>
+
+      
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.0 0.45 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="front_side">
+        <pose>0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="back_side">
+        <pose>-0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="left_side">
+        <pose>0 0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="right_side">
+        <pose>0 -0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      <visual name="differential_visual">
+        <pose>-0.5 0 0.0 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.06</radius>
+            <length>0.44</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+
+
+
+
+      <visual name="plate1_visual">
+        <pose>0.37 0 0.66 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="plate2_visual">
+        <pose>0.37 0 0.55 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="plate3_visual">
+        <pose>0.37 0 0.36 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.2 0.2 0.005</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="beam1_visual">
+        <pose>0.461 0.091 0.51 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam2_visual">
+        <pose>0.461 -0.091 0.51 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.3</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam3_visual">
+        <pose>0.279 0.091 0.41 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+      <visual name="beam4_visual">
+        <pose>0.279 -0.091 0.41 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>200 200 200 1</ambient>
+          <diffuse>200 200 200 1</diffuse>
+        </material>
+      </visual>
+
+      <visual name="d435i_realsense_camera_visual">
+        <pose>0.43 0 0.634 0 0.52 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+      <visual name="vlp16_visual1">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual2">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual3">
+        <pose>0.37 0 0.552 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+
+      
+      
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.13 -0.13 0.26 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.13 -0.13 0.27 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 0 0</ambient>
+          <diffuse>255 0 0</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      
+      <!-- IMU  -->
+      <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>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <!-- thermal camera -->
+      <visual name="thermal_camera_visual">
+        <pose> 0.45 -0.06 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.03 0.03</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal">
+        <pose> 0.48 -0.06 0.645 0 0 0</pose>
+        <camera name="thermal_camera">
+          <horizontal_fov>0.628</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>317.173</fx>
+              <fy>317.173</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>102.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>77.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <image>
+            <width>206</width>
+            <height>156</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>300</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>9</update_rate>
+      </sensor>
+      
+      
+	    
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.45 0 0.634 0 0.52 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+		 
+
+
+      <!-- 3D Velodyne VLP-16 lidar -->
+
+      
+      <sensor name="front_laser" type="gpu_ray">
+        <pose>0.37 0 0.592 0 0 0</pose>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1800</samples>
+              <resolution>1.0</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>
+      </sensor>
+
+
+
+
+      <visual name="camera_front_visual">
+        <pose>0.46 0.06 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_front_visual">
+        <pose>0.47 0.06 0.645 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_rear_visual">
+        <pose>0.28 0 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.03 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_rear_visual">
+        <pose>0.27 0 0.645 0 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_left_visual">
+        <pose>0.37 0.09 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_left_visual">
+        <pose>0.37 0.1 0.645 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+      <visual name="camera_right_visual">
+        <pose>0.37 -0.09 0.645 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.03 0.01 0.03</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <visual name="camera_lens_right_visual">
+        <pose>0.37 -0.1 0.645 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.011</length>
+            <radius>0.005</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0.0 0.0 0.0 1.0</ambient>
+          <diffuse>0.0 0.0 0.0 1.0</diffuse>
+        </material>
+      </visual>
+
+
+      <!-- Real robot has 2 x B0203 with LN008 each with a 180 deg hor x 130 deg vert FOV
+           Since fisheye cameras are not modeled, four VGA cameras are used in the model -->
+      <sensor name="camera_front" type="camera">
+        <pose>0.48 0.06 0.645 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</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>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_rear" type="camera">
+        <pose>0.26 0 0.645 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</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>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_left" type="camera">
+        <pose>0.37 0.11 0.645 0 0 1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</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>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      <sensor name="camera_right" type="camera">
+        <pose>0.37 -0.11 0.645 0 0 -1.5707963267948966</pose>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+        <camera name="camera_front">
+          <horizontal_fov>1.658</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>329.9</fx>
+              <fy>329.9</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>359.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>539.5</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>720</width>
+            <height>1080</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.01</near>
+            <far>300</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+
+      
+
+      <light name="light_front_left" type="spot">
+        <pose>0.45 0.23 0.44 1.5 0 -0.75</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.45 -0.23 0.44 1.5 0 -2.25 </pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_left" type="spot">
+        <pose>-0.31 0.25 0.44 1.5 0 0.75</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_right" type="spot">
+        <pose>-0.31 -0.25 0.44 1.5 0 2.25</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_front_left_visual">
+        <pose>0.44 0.23 0.41 0 0 0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_front_right_visual">
+        <pose>0.44 -0.23 0.41 0 0 -0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_left_visual">
+        <pose>-0.3 0.25 0.41 0 0 -0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_right_visual">
+        <pose>-0.3 -0.25 0.41 0 0 0.75</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.465 0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.465 -0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.465 0.325 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.465 0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. - rear wheel drive so most torque is simulated to rear wheels -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf.urban b/submitted_models/coro_karen_sensor_config_1/model.sdf.urban
new file mode 100644
index 00000000..a251d019
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf.urban
@@ -0,0 +1,1097 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="CORO_KAREN">
+    <enable_wind>1</enable_wind>
+    <static>0</static>
+    <pose>0 0 0.1275 0 0 0</pose>
+    <link name="base_link">
+      <inertial>
+        <pose>0 0 0.0725 0 0 0</pose>
+        <mass>90.0</mass>
+	<inertia>
+	  <ixx>3.333</ixx>
+	  <iyy>9.733</iyy>
+	  <izz>9.733</izz>
+	</inertia>
+      </inertial>
+      
+      <collision name="chassis_collision">
+        <pose>0 0 0.25 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.1 0.7 0.4</size>
+          </box>
+        </geometry>
+      </collision>
+      <collision name="tower_collision">
+        <pose>-0.3 0 0.55 0 0 0</pose>
+        <geometry>
+	  <box>
+	    <size>0.1 0.1 0.4</size>
+	  </box>
+        </geometry>
+      </collision>
+      
+      <visual name="chassis_main_visual">
+        <pose>0 0 0.15 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>1.0 0.45 0.2</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>240 240 240 1</ambient>
+          <diffuse>240 240 240 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="front_side">
+        <pose>0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="back_side">
+        <pose>-0.5 0 0.3 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>0.55</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="left_side">
+        <pose>0 0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      <visual name="right_side">
+        <pose>0 -0.25 0.3 0 1.5707 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.07</radius>
+            <length>1.0</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      <visual name="differential_visual">
+        <pose>-0.5 0 0.0 1.5707 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.06</radius>
+            <length>0.44</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>100 100 235 1</ambient>
+          <diffuse>100 100 235 1</diffuse>
+        </material>
+      </visual>
+      <visual name="sensor_tower_visual">
+        <pose>-0.3 0 0.5 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.04</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>222 184 135 1</ambient>
+          <diffuse>222 184 135 1</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      <visual name="emergency_stop_bottom_visual">
+        <pose>0.13 -0.13 0.26 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.015</length>
+            <radius>0.015</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>180 180 180</ambient>
+          <diffuse>180 180 180</diffuse>
+        </material>
+      </visual>
+      <visual name="emergency_stop_top_visual">
+        <pose>0.13 -0.13 0.27 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.005</length>
+            <radius>0.02</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>255 0 0</ambient>
+          <diffuse>255 0 0</diffuse>
+        </material>
+      </visual>
+      
+      
+      
+      
+      <!-- IMU  -->
+      <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>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
+      </sensor>
+      
+      
+      <sensor name="magnetometer" type="magnetometer">
+        <always_on>1</always_on>
+        <update_rate>50</update_rate>
+        <magnetometer>
+          <x>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </x>
+          <y>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </y>
+          <z>
+            <noise type="gaussian">
+              <mean>0.000000080</mean>
+              <bias_mean>0.000000400</bias_mean>
+            </noise>
+          </z>
+        </magnetometer>
+      </sensor>
+      
+      <sensor name="air_pressure" type="air_pressure">
+        <always_on>1</always_on>
+        <update_rate>20</update_rate>
+        <air_pressure>
+          <reference_altitude>0</reference_altitude>
+          <noise type="gaussian">
+            <mean>0.00000008</mean>
+          </noise>
+        </air_pressure>
+      </sensor>
+
+
+      <!-- thermal camera -->
+      <visual name="thermal_camera_visual">
+        <pose> 0.50 0 0.407 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.025 0.025</size>
+          </box>
+        </geometry>
+      </visual>
+      <sensor name="thermal_camera" type="thermal">
+        <pose> 0.50 0 0.407 0 0 0</pose>
+        <camera name="thermal_camera">
+          <horizontal_fov>0.4922</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>764.35630</fx>
+              <fy>764.35630</fy>
+              <!-- cx = ( width + 1 ) / 2 -->
+              <cx>192.5</cx>
+              <!-- cy = ( height + 1 ) / 2 -->
+              <cy>144.5</cy>
+              <s>0</s>
+            </intrinsics>
+          </lens>
+          <image>
+            <width>384</width>
+            <height>288</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>25</update_rate>
+      </sensor>
+      
+      
+      <visual name="rgbd_front_camera_visual">
+        <pose>0.49 0 0.37 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rgbd_up_camera_visual">
+        <pose>0.51 0 0.42 0 -1.5707963267948966 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="rgbd_rear_camera_visual">
+        <pose>-0.34 0 0.66 0 0 3.141592653589793</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/realsense_d435.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+	    
+      <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
+      <sensor name="rs_front" type="rgbd_camera">
+        <pose>0.49 0 0.37 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_front">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+      <sensor name="rs_up" type="rgbd_camera">
+        <pose>0.51 0 0.42 0 -1.5707963267948966 0</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_up">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+      <sensor name="rs_rear" type="rgbd_camera">
+        <pose>-0.34 0 0.66 0 0 3.141592653589793</pose>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <camera name="rs_rear">
+          <horizontal_fov>1.50098</horizontal_fov>
+          <lens>
+            <intrinsics>
+              <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+              <fx>343.159</fx>
+              <fy>343.159</fy>
+              <!-- cx = ( width - 1 ) / 2 -->
+              <cx>319.5</cx>
+              <!-- cy = ( height - 1 ) / 2 -->
+              <cy>179.5</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>640</width>
+            <height>360</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>
+      </sensor>
+
+
+		 
+
+
+      <!-- 3D Velodyne VLP-16 lidar -->
+      <visual name="vlp16_visual1">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_1.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual2">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_base_2.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="vlp_visual3">
+        <pose>-0.3 0 0.75 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/VLP16_scan.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      
+      <sensor name="front_laser" type="gpu_ray">
+        <pose>-0.3 0 0.78 0 0 0</pose>
+        <update_rate>10</update_rate>
+        <lidar>
+          <scan>
+            <horizontal>
+              <samples>1800</samples>
+              <resolution>1.0</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>
+      </sensor>
+
+
+      <light name="light_front_left" type="spot">
+        <pose>0.44 0.25 0.44 1.5 0 -1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_front_right" type="spot">
+        <pose>0.44 -0.25 0.44 1.5 0 -1.5 </pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>-1 0 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_left" type="spot">
+        <pose>-0.33 0.25 0.44 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      <light name="light_rear_right" type="spot">
+        <pose>-0.33 -0.25 0.44 1.5 0 1.5</pose>
+        <attenuation>
+          <range>25</range>
+          <linear>0</linear>
+          <constant>0.1</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>1.571</inner_angle>
+          <outer_angle>2.1</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 -1 0</direction>
+        <cast_shadows>1</cast_shadows>
+      </light>
+      
+      <visual name="light_front_left_visual">
+        <pose>0.42 0.25 0.41 0 0 -0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_front_right_visual">
+        <pose>0.42 -0.25 0.41 0 0 0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_left_visual">
+        <pose>-0.3 0.25 0.41 0 0 0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      <visual name="light_rear_right_visual">
+        <pose>-0.3 -0.25 0.41 0 0 -0.2</pose>
+        <geometry>
+	  <box>
+	    <size>0.01 0.12 0.08</size>
+	  </box>
+        </geometry>
+        <material>
+          <ambient>255 255 255</ambient>
+          <diffuse>255 255 255</diffuse>
+        </material>
+      </visual>
+      
+    </link>
+
+
+
+    <link name="front_left_wheel_steering_link">
+      <pose>0.465 0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel_steering_link">
+      <pose>0.465 -0.22 0.02 0 0 0</pose>
+      <inertial>
+        <mass>0.5</mass>
+        <inertia>
+          <ixx>0.0153</ixx>
+          <iyy>0.025</iyy>
+          <izz>0.0153</izz>
+        </inertia>
+      </inertial>
+      <visual name="steering_link_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.03</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>11 11 11</ambient>
+          <diffuse>11 11 11</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_left_wheel">
+      <pose>0.465 0.325 0 0 0 0</pose>
+      <!-- Inertia and size need adjusted -->
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="front_right_wheel">
+      <pose>0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+    <link name="rear_left_wheel">
+      <pose>-0.465 0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 -1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 -0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 -0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+    
+    <link name="rear_right_wheel">
+      <pose>-0.465 -0.325 0 0 0 0</pose>
+      <inertial>
+        <mass>5.0</mass>
+        <inertia>
+          <ixx>0.043</ixx>
+          <iyy>0.076</iyy>
+          <izz>0.043</izz>
+        </inertia>
+      </inertial>
+      <collision name="collision">
+        <pose>0 0 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.11</length>
+            <radius>0.175</radius>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <slip1>0.0475</slip1>
+              <slip2>0</slip2>
+              <fdir1>0 0 1</fdir1>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="tire_visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/wheel.dae</uri>
+	    <scale>1.01 1.0 1.01</scale>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name="hub_visual">
+        <pose>0 0.01 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.025</length>
+            <radius>0.04</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>128 128 128</ambient>
+          <diffuse>128 128 128</diffuse>
+        </material>
+      </visual>
+      <visual name="axis_visual">
+        <pose>0 0.08 0 1.5707963267948966 0 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.1</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>0 0 0</ambient>
+          <diffuse>0 0 0</diffuse>
+        </material>
+      </visual>
+    </link>
+
+
+    <joint name="front_left_wheel_steering_joint" type="revolute">
+      <child>front_left_wheel_steering_link</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_steering_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>front_right_wheel_steering_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.6</lower>
+          <upper>+0.6</upper>
+          <velocity>1.0</velocity>
+          <effort>150</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    
+    <joint name="front_left_wheel_joint" type="revolute">
+      <child>front_left_wheel</child>
+      <parent>front_left_wheel_steering_link</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+        <use_parent_model_frame>1</use_parent_model_frame>
+      </axis>
+    </joint>
+    
+    <joint name="front_right_wheel_joint" type="revolute">
+      <parent>front_right_wheel_steering_link</parent>
+      <child>front_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_left_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_left_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. - rear wheel drive so most torque is simulated to rear wheels -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+    <joint name="rear_right_wheel_joint" type="revolute">
+      <parent>base_link</parent>
+      <child>rear_right_wheel</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-1.79769e+308</lower>
+          <upper>+1.79769e+308</upper>
+          <velocity>9.71</velocity>
+          <!-- Torque in NM. -->
+          <effort>35</effort>
+        </limit>
+      </axis>
+    </joint>
+    
+  </model>
+</sdf>
diff --git a/submitted_models/coro_karen_sensor_config_1/package.xml b/submitted_models/coro_karen_sensor_config_1/package.xml
new file mode 100644
index 00000000..c571bfe7
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_karen_sensor_config_1</name>
+  <version>0.0.1</version>
+  <description>Karen is a Coordinated Robotics robot with 3D LIDAR and RGBD cameras.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>
diff --git a/submitted_models/coro_karen_sensor_config_1/specifications.md b/submitted_models/coro_karen_sensor_config_1/specifications.md
new file mode 100644
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--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/specifications.md
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+
+<!--- This is a Markdown description of a robot model submitted for inclusion in the
+DARPA Subterranean Challenge Technology Repository -->
+# Coordinated Robotics - Karen
+This specifications.md file is a description of Coordinated Robotics Karen with Sensor
+Configuration 1. This robot may be launched using a `ign launch` command with the
+variable name `coro_karen_sensor_config_1`.
+
+## Description
+Karen is a four-wheel Ackermann type steering ground vehicle. Karen weighs ~110 kg.
+Karen can carry and launch a drone from atop the sensor platform.
+Karen is currently in the lab at CSUCI and so is not accessible for validation
+testing.  Velocity, weight, battery life and steering radius are taken from
+the manufacturer's web page.
+
+## Usage Instructions
+The robot is controlled by the included Ackermann steering plugin and accepts a
+linear x velocity and a rotational z velocity. Sensors are published on the standard
+topics.
+
+## Usage Rights
+
+
+## Cost and Scale
+Karen has an estimated duplication cost of USD 9,975. It weighs 110 kg.
+Cost breakdown:
+$3500 - Frame / motor / gearboxes / batteries / controllers
+$2500 - Velodyne VLP-16 https://www.ebay.com/sch/i.html?_nkw=velodyne+vlp-16&_sacat=0
+$1300 - MS-IMU3025
+$1200 - lights / connectors /switches / DC-DC / misc
+$1000 - laptop
+$250  - D435i
+$225  - Seek Thermal Compact
+The original frame / motor / gearbox was purchased from craigslist for $1200.  We added
+batteries and a controller for $300 more.  I would estimate it would cost $3200 to
+purchase the parts necessary to build a mechanically similar robot.  The manufacturer
+leases a complete system with sensors, software, support, etc. for $1500/month.
+
+## Sensors
+Karen Sensor Config 1 uses:
+* 1 x Velodyne VLP-16, modeled by gpu_lidar plugin
+* 1 x D435i modeled by rgbd_camera plugin
+* 1 x Memsense MS-IMU3025 modeled by imu_sensor and magnetometer plugin
+* 1 x Kakute F7 - modeled by air_pressure plugin
+* 1 x SCD30 - modeled by GasEmitterDetector plugin
+* 2 x Arducam B0203 with LN008 - modeled by 4 camera plugins
+* 1 x Seek Thermal Compact - modeled by the thermal plugin
+* 4 x Wheel odometry - wheel encoders modeled by pose-publisher plugin
+
+Karen Sensor Config 2 adds 12 breadcrumbs:
+* 12 x Raspberry Pi Zero W
+
+## Control
+Karen is controlled by the AckermannSteering plugin and accepts a linear x velocity
+and a rotational z velocity.  Sensors are published on the standard topics.
+
+
+## Motion Characteristics
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation
+Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion
+constraint characteristics:
+
+* _x_ velocity range from -1.67 m/s to 1.67 m/s
+* _x_ acceleration range from -3.0 m/s<sup>2</sup> to 3.0 m/s<sup>2</sup>
+* Turning radius of 5.0 m
+
+The velocity range is based on the manufacturer's speed of 6km/hour.
+Acceleration is estimated.
+Turning radius is based on the manufacturer's specification.
+
+The constraints can be found in the following locations within the simulation model package:
+
+* Turning radius is modeled by the `AckermannSteering` plugin in the `spawner.rb` file, line 24
+* Velocity and acceleration limits applied to the `AckermannSteering` plugin in the `spawner.rb` file, lines 28-31
+* Front left wheel maximum velocity and torque &mdash; model.sdf, lines 1295-1296
+* Other wheels &mdash; just below Front Left wheel in the same file.
+
+
+## Endurance Characteristics
+This vehicle has a battery life of 14400 seconds.  This is based on the manufacturers range of 24km
+divided by a speed of 6km/hour.  The batteries are two large 12V deep cycle batteries.
+
+
+## Diversions from Physical Hardware of Karen
+Fisheye cameras are not modeled, so 4 cameras were used for simulation in place of the two fisheye cameras on the physical robot.
+
+The rear differential is modeled as two separate motors rather than one motor driving two wheels.
+
+The front wheels are driven in the simulator, but not on the physical vehicle.  This is so that the vehicle
+will make it up the slopes in the simulator.  It may also be possible to adjust the wheel friction
+parameters and only drive the rear wheels.  The manufacturer does list a 15 degree slope climbing angle
+and the simulator slopes are ~30 degrees.  Based on the weight balance, motor torque and pneumatic wheels
+I believe the physical vehicle can go to 40 degrees or so, but that has not been validated.
+
+
+# <a name="validation_links"></a>Karen Validation and Specification Links
+
+* Vehicle - https://smprobotics.com/products_autonomous_ugv/
+* VLP-16 LIDAR -  https://www.mapix.com/wp-content/uploads/2018/07/63-9229_Rev-H_Puck-_Datasheet_Web-1.pdf
+* Memsense MS-IMU3025 - https://www.memsense.com/products/ms-imu3025
+* Kakute F7 - http://www.holybro.com/product/kakute-f7-v1-5/
+* Arducam B0203 - https://www.arducam.com/product/arducam-1080p-hd-wide-angle-wdr-usb-camera-module-for-computer-2mp-1-2-7-cmos-ar0230-100-degree-mini-uvc-usb2-0-spy-webcam-board-with-3-3ft-1m-cable-for-windows-linux-mac-os-android/
+* Arducam LN008 - https://www.arducam.com/product/m25156h14/
+* D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
+* Seek Thermal Compact - https://www.thermal.com/uploads/1/0/1/3/101388544/compact-sellsheet-usa_web.pdf
+
diff --git a/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
new file mode 100644
index 00000000..74b19a3e
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.cc
@@ -0,0 +1,778 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include "AckermannSteering.hh"
+
+#include <ignition/msgs/odometry.pb.h>
+
+#include <limits>
+#include <mutex>
+#include <set>
+#include <string>
+#include <vector>
+
+#include <ignition/common/Profiler.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Angle.hh>
+#include <ignition/plugin/Register.hh>
+#include <ignition/transport/Node.hh>
+
+#include "ignition/gazebo/components/CanonicalLink.hh"
+#include "ignition/gazebo/components/JointPosition.hh"
+#include "ignition/gazebo/components/JointVelocityCmd.hh"
+#include "ignition/gazebo/Link.hh"
+#include "ignition/gazebo/Model.hh"
+#include "ignition/gazebo/Util.hh"
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Velocity command.
+struct Commands
+{
+  /// \brief Linear velocity.
+  double lin;
+
+  /// \brief Angular velocity.
+  double ang;
+
+  Commands() : lin(0.0), ang(0.0) {}
+};
+
+class ignition::gazebo::systems::AckermannSteeringPrivate
+{
+  /// \brief Callback for velocity subscription
+  /// \param[in] _msg Velocity message
+  public: void OnCmdVel(const ignition::msgs::Twist &_msg);
+
+  /// \brief Update odometry and publish an odometry message.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Update the linear and angular velocities.
+  /// \param[in] _info System update information.
+  /// \param[in] _ecm The EntityComponentManager of the given simulation
+  /// instance.
+  public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm);
+
+  /// \brief Ignition communication node.
+  public: transport::Node node;
+
+  /// \brief Entity of the left joint
+  public: std::vector<Entity> leftJoints;
+
+  /// \brief Entity of the right joint
+  public: std::vector<Entity> rightJoints;
+
+  /// \brief Entity of the left steering joint
+  public: std::vector<Entity> leftSteeringJoints;
+
+  /// \brief Entity of the right steering joint
+  public: std::vector<Entity> rightSteeringJoints;
+
+  /// \brief Name of left joint
+  public: std::vector<std::string> leftJointNames;
+
+  /// \brief Name of right joint
+  public: std::vector<std::string> rightJointNames;
+
+  /// \brief Name of left steering joint
+  public: std::vector<std::string> leftSteeringJointNames;
+
+  /// \brief Name of right steering joint
+  public: std::vector<std::string> rightSteeringJointNames;
+
+  /// \brief Calculated speed of left wheel joint(s)
+  public: double leftJointSpeed{0};
+
+  /// \brief Calculated speed of right wheel joint(s)
+  public: double rightJointSpeed{0};
+
+  /// \brief Calculated speed of left joint
+  public: double leftSteeringJointSpeed{0};
+
+  /// \brief Calculated speed of right joint
+  public: double rightSteeringJointSpeed{0};
+
+  /// \brief Distance between left and right wheels
+  public: double wheelSeparation{1.0};
+
+  /// \brief Distance between left and right wheel kingpins
+  public: double kingpinWidth{0.8};
+
+  /// \brief Distance between front and back wheels
+  public: double wheelBase{1.0};
+
+  /// \brief Maximum turning angle to limit steering to
+  public: double steeringLimit{0.5};
+
+  /// \brief Wheel radius
+  public: double wheelRadius{0.2};
+
+  /// \brief Model interface
+  public: Model model{kNullEntity};
+
+  /// \brief The model's canonical link.
+  public: Link canonicalLink{kNullEntity};
+
+  /// \brief Update period calculated from <odom__publish_frequency>.
+  public: std::chrono::steady_clock::duration odomPubPeriod{0};
+
+  /// \brief Last sim time odom was published.
+  public: std::chrono::steady_clock::duration lastOdomPubTime{0};
+
+  /// \brief Ackermann steering odometry message publisher.
+  public: transport::Node::Publisher odomPub;
+
+  /// \brief Odometry X value
+  public: double odomX{0.0};
+
+  /// \brief Odometry Y value
+  public: double odomY{0.0};
+
+  /// \brief Odometry yaw value
+  public: double odomYaw{0.0};
+
+  /// \brief Odometry old left value
+  public: double odomOldLeft{0.0};
+
+  /// \brief Odometry old right value
+  public: double odomOldRight{0.0};
+
+  /// \brief Odometry last time value
+  public: std::chrono::steady_clock::duration lastOdomTime{0};
+
+  /// \brief Linear velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterLin;
+
+  /// \brief Angular velocity limiter.
+  public: std::unique_ptr<SpeedLimiter> limiterAng;
+
+  /// \brief Previous control command.
+  public: Commands last0Cmd;
+
+  /// \brief Previous control command to last0Cmd.
+  public: Commands last1Cmd;
+
+  /// \brief Last target velocity requested.
+  public: msgs::Twist targetVel;
+
+  /// \brief A mutex to protect the target velocity command.
+  public: std::mutex mutex;
+
+  /// \brief frame_id from sdf.
+  public: std::string sdfFrameId;
+
+  /// \brief child_frame_id from sdf.
+  public: std::string sdfChildFrameId;
+};
+
+//////////////////////////////////////////////////
+AckermannSteering::AckermannSteering()
+  : dataPtr(std::make_unique<AckermannSteeringPrivate>())
+{
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::Configure(const Entity &_entity,
+    const std::shared_ptr<const sdf::Element> &_sdf,
+    EntityComponentManager &_ecm,
+    EventManager &/*_eventMgr*/)
+{
+  this->dataPtr->model = Model(_entity);
+
+  if (!this->dataPtr->model.Valid(_ecm))
+  {
+    ignerr << "AckermannSteering plugin should be attached to a model entity. "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  // Get the canonical link
+  std::vector<Entity> links = _ecm.ChildrenByComponents(
+      this->dataPtr->model.Entity(), components::CanonicalLink());
+  if (!links.empty())
+    this->dataPtr->canonicalLink = Link(links[0]);
+
+  // Ugly, but needed because the sdf::Element::GetElement is not a const
+  // function and _sdf is a const shared pointer to a const sdf::Element.
+  auto ptr = const_cast<sdf::Element *>(_sdf.get());
+
+  // Get params from SDF
+  sdf::ElementPtr sdfElem = ptr->GetElement("left_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_joint");
+  }
+  sdfElem = ptr->GetElement("right_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightJointNames.push_back(sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_joint");
+  }
+  sdfElem = ptr->GetElement("left_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->leftSteeringJointNames.push_back(
+                          sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("left_steering_joint");
+  }
+  sdfElem = ptr->GetElement("right_steering_joint");
+  while (sdfElem)
+  {
+    this->dataPtr->rightSteeringJointNames.push_back(
+                           sdfElem->Get<std::string>());
+    sdfElem = sdfElem->GetNextElement("right_steering_joint");
+  }
+
+  this->dataPtr->wheelSeparation = _sdf->Get<double>("wheel_separation",
+      this->dataPtr->wheelSeparation).first;
+  this->dataPtr->kingpinWidth = _sdf->Get<double>("kingpin_width",
+      this->dataPtr->kingpinWidth).first;
+  this->dataPtr->wheelBase = _sdf->Get<double>("wheel_base",
+      this->dataPtr->wheelBase).first;
+  this->dataPtr->steeringLimit = _sdf->Get<double>("steering_limit",
+      this->dataPtr->steeringLimit).first;
+  this->dataPtr->wheelRadius = _sdf->Get<double>("wheel_radius",
+      this->dataPtr->wheelRadius).first;
+
+  // Parse speed limiter parameters.
+  bool hasVelocityLimits     = false;
+  bool hasAccelerationLimits = false;
+  bool hasJerkLimits         = false;
+  double minVel              = std::numeric_limits<double>::lowest();
+  double maxVel              = std::numeric_limits<double>::max();
+  double minAccel            = std::numeric_limits<double>::lowest();
+  double maxAccel            = std::numeric_limits<double>::max();
+  double minJerk             = std::numeric_limits<double>::lowest();
+  double maxJerk             = std::numeric_limits<double>::max();
+
+  if (_sdf->HasElement("min_velocity"))
+  {
+    minVel = _sdf->Get<double>("min_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("max_velocity"))
+  {
+    maxVel = _sdf->Get<double>("max_velocity");
+    hasVelocityLimits = true;
+  }
+  if (_sdf->HasElement("min_acceleration"))
+  {
+    minAccel = _sdf->Get<double>("min_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("max_acceleration"))
+  {
+    maxAccel = _sdf->Get<double>("max_acceleration");
+    hasAccelerationLimits = true;
+  }
+  if (_sdf->HasElement("min_jerk"))
+  {
+    minJerk = _sdf->Get<double>("min_jerk");
+    hasJerkLimits = true;
+  }
+  if (_sdf->HasElement("max_jerk"))
+  {
+    maxJerk = _sdf->Get<double>("max_jerk");
+    hasJerkLimits = true;
+  }
+
+  // Instantiate the speed limiters.
+  this->dataPtr->limiterLin = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  this->dataPtr->limiterAng = std::make_unique<SpeedLimiter>(
+    hasVelocityLimits, hasAccelerationLimits, hasJerkLimits,
+    minVel, maxVel, minAccel, maxAccel, minJerk, maxJerk);
+
+  double odomFreq = _sdf->Get<double>("odom_publish_frequency", 50).first;
+  if (odomFreq > 0)
+  {
+    std::chrono::duration<double> odomPer{1 / odomFreq};
+    this->dataPtr->odomPubPeriod =
+      std::chrono::duration_cast<std::chrono::steady_clock::duration>(odomPer);
+  }
+
+  // Subscribe to commands
+  std::vector<std::string> topics;
+  if (_sdf->HasElement("topic"))
+  {
+    topics.push_back(_sdf->Get<std::string>("topic"));
+  }
+  topics.push_back("/model/" + this->dataPtr->model.Name(_ecm) + "/cmd_vel");
+  auto topic = validTopic(topics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->node.Subscribe(topic, &AckermannSteeringPrivate::OnCmdVel,
+      this->dataPtr.get());
+
+  std::vector<std::string> odomTopics;
+  if (_sdf->HasElement("odom_topic"))
+  {
+    odomTopics.push_back(_sdf->Get<std::string>("odom_topic"));
+  }
+  odomTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) +
+      "/odometry");
+  auto odomTopic = validTopic(odomTopics);
+  if (topic.empty())
+  {
+    ignerr << "AckermannSteering plugin received invalid model name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
+  this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
+      odomTopic);
+
+  if (_sdf->HasElement("frame_id"))
+    this->dataPtr->sdfFrameId = _sdf->Get<std::string>("frame_id");
+
+  if (_sdf->HasElement("child_frame_id"))
+    this->dataPtr->sdfChildFrameId = _sdf->Get<std::string>("child_frame_id");
+
+  ignmsg << "AckermannSteering subscribing to twist messages on [" <<
+      topic << "]" << std::endl;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
+    ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PreUpdate");
+
+  // \TODO(anyone) Support rewind
+  if (_info.dt < std::chrono::steady_clock::duration::zero())
+  {
+    ignwarn << "Detected jump back in time ["
+        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
+        << "s]. System may not work properly." << std::endl;
+  }
+
+  // If the joints haven't been identified yet, look for them
+  static std::set<std::string> warnedModels;
+  auto modelName = this->dataPtr->model.Name(_ecm);
+  if (this->dataPtr->leftJoints.empty() ||
+      this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+  {
+    bool warned{false};
+    for (const std::string &name : this->dataPtr->leftJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right joint [" << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    for (const std::string &name : this->dataPtr->leftSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->leftSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find left steering joint ["
+                << name << "] for model ["
+                << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+
+    for (const std::string &name : this->dataPtr->rightSteeringJointNames)
+    {
+      Entity joint = this->dataPtr->model.JointByName(_ecm, name);
+      if (joint != kNullEntity)
+        this->dataPtr->rightSteeringJoints.push_back(joint);
+      else if (warnedModels.find(modelName) == warnedModels.end())
+      {
+        ignwarn << "Failed to find right steering joint [" <<
+            name << "] for model [" << modelName << "]" << std::endl;
+        warned = true;
+      }
+    }
+    if (warned)
+    {
+      warnedModels.insert(modelName);
+    }
+  }
+
+  if (this->dataPtr->leftJoints.empty() || this->dataPtr->rightJoints.empty() ||
+      this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+    return;
+
+  if (warnedModels.find(modelName) != warnedModels.end())
+  {
+    ignmsg << "Found joints for model [" << modelName
+           << "], plugin will start working." << std::endl;
+    warnedModels.erase(modelName);
+  }
+
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  for (Entity joint : this->dataPtr->leftJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd({this->dataPtr->leftJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->leftJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightJoints)
+  {
+    // Update wheel velocity
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd({this->dataPtr->rightJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd({this->dataPtr->rightJointSpeed});
+    }
+  }
+
+  // Update steering
+  for (Entity joint : this->dataPtr->leftSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(
+          joint, components::JointVelocityCmd(
+                             {this->dataPtr->leftSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                         {this->dataPtr->leftSteeringJointSpeed});
+    }
+  }
+
+  for (Entity joint : this->dataPtr->rightSteeringJoints)
+  {
+    auto vel = _ecm.Component<components::JointVelocityCmd>(joint);
+
+    if (vel == nullptr)
+    {
+      _ecm.CreateComponent(joint,
+          components::JointVelocityCmd(
+                  {this->dataPtr->rightSteeringJointSpeed}));
+    }
+    else
+    {
+      *vel = components::JointVelocityCmd(
+                     {this->dataPtr->rightSteeringJointSpeed});
+    }
+  }
+
+  // Create the left and right side joint position components if they
+  // don't exist.
+  auto leftPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftJoints[0]);
+  if (!leftPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightJoints[0]);
+  if (!rightPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightJoints[0],
+        components::JointPosition());
+  }
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->leftSteeringJoints[0]);
+  if (!leftSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->leftSteeringJoints[0],
+        components::JointPosition());
+  }
+
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->dataPtr->rightSteeringJoints[0]);
+  if (!rightSteeringPos)
+  {
+    _ecm.CreateComponent(this->dataPtr->rightSteeringJoints[0],
+        components::JointPosition());
+  }
+}
+
+//////////////////////////////////////////////////
+void AckermannSteering::PostUpdate(const UpdateInfo &_info,
+    const EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::PostUpdate");
+  // Nothing left to do if paused.
+  if (_info.paused)
+    return;
+
+  this->dataPtr->UpdateVelocity(_info, _ecm);
+  this->dataPtr->UpdateOdometry(_info, _ecm);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateOdometry(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateOdometry");
+  // Initialize, if not already initialized.
+
+  if (this->leftJoints.empty() || this->rightJoints.empty() ||
+      this->leftSteeringJoints.empty() || this->rightSteeringJoints.empty())
+    return;
+
+  // Get the first joint positions for the left and right side.
+  auto leftPos = _ecm.Component<components::JointPosition>(this->leftJoints[0]);
+  auto rightPos = _ecm.Component<components::JointPosition>(
+      this->rightJoints[0]);
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftPos || !rightPos || leftPos->Data().empty() ||
+      rightPos->Data().empty() ||
+      !leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  // Calculate the odometry
+  double phi = 0.5 * (leftSteeringPos->Data()[0] + rightSteeringPos->Data()[0]);
+  double radius = this->wheelBase / tan(phi);
+  double dist = 0.5 * this->wheelRadius *
+      ((leftPos->Data()[0] - this->odomOldLeft) +
+       (rightPos->Data()[0] - this->odomOldRight));
+  double deltaAngle = dist / radius;
+  this->odomYaw += deltaAngle;
+  this->odomYaw = math::Angle(this->odomYaw).Normalized().Radian();
+  this->odomX += dist * cos(this->odomYaw);
+  this->odomY += dist * sin(this->odomYaw);
+  auto odomTimeDiff = _info.simTime - this->lastOdomTime;
+  double tdiff = std::chrono::duration<double>(odomTimeDiff).count();
+  double odomLinearVelocity = dist / tdiff;
+  double odomAngularVelocity = deltaAngle / tdiff;
+  this->lastOdomTime = _info.simTime;
+  this->odomOldLeft = leftPos->Data()[0];
+  this->odomOldRight = rightPos->Data()[0];
+
+  // Throttle odometry publishing
+  auto diff = _info.simTime - this->lastOdomPubTime;
+  if (diff > std::chrono::steady_clock::duration::zero() &&
+      diff < this->odomPubPeriod)
+  {
+    return;
+  }
+  this->lastOdomPubTime = _info.simTime;
+
+  // Construct the odometry message and publish it.
+  msgs::Odometry msg;
+  msg.mutable_pose()->mutable_position()->set_x(this->odomX);
+  msg.mutable_pose()->mutable_position()->set_y(this->odomY);
+
+  math::Quaterniond orientation(0, 0, this->odomYaw);
+  msgs::Set(msg.mutable_pose()->mutable_orientation(), orientation);
+
+  msg.mutable_twist()->mutable_linear()->set_x(odomLinearVelocity);
+  msg.mutable_twist()->mutable_angular()->set_z(odomAngularVelocity);
+
+  // Set the time stamp in the header
+  msg.mutable_header()->mutable_stamp()->CopyFrom(
+      convert<msgs::Time>(_info.simTime));
+
+  // Set the frame id.
+  auto frame = msg.mutable_header()->add_data();
+  frame->set_key("frame_id");
+  if (this->sdfFrameId.empty())
+  {
+    frame->add_value(this->model.Name(_ecm) + "/odom");
+  }
+  else
+  {
+    frame->add_value(this->sdfFrameId);
+  }
+
+  std::optional<std::string> linkName = this->canonicalLink.Name(_ecm);
+  if (this->sdfChildFrameId.empty())
+  {
+    if (linkName)
+    {
+      auto childFrame = msg.mutable_header()->add_data();
+      childFrame->set_key("child_frame_id");
+      childFrame->add_value(this->model.Name(_ecm) + "/" + *linkName);
+    }
+  }
+  else
+  {
+    auto childFrame = msg.mutable_header()->add_data();
+    childFrame->set_key("child_frame_id");
+    childFrame->add_value(this->sdfChildFrameId);
+  }
+
+  // Publish the message
+  this->odomPub.Publish(msg);
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::UpdateVelocity(
+    const ignition::gazebo::UpdateInfo &_info,
+    const ignition::gazebo::EntityComponentManager &_ecm)
+{
+  IGN_PROFILE("AckermannSteering::UpdateVelocity");
+
+  double linVel;
+  double angVel;
+  {
+    std::lock_guard<std::mutex> lock(this->mutex);
+    linVel = this->targetVel.linear().x();
+    angVel = this->targetVel.angular().z();
+  }
+
+  const double dt = std::chrono::duration<double>(_info.dt).count();
+
+  // Limit the target velocity if needed.
+  this->limiterLin->Limit(linVel, this->last0Cmd.lin, this->last1Cmd.lin, dt);
+  this->limiterAng->Limit(angVel, this->last0Cmd.ang, this->last1Cmd.ang, dt);
+
+  // Update history of commands.
+  this->last1Cmd = last0Cmd;
+  this->last0Cmd.lin = linVel;
+  this->last0Cmd.ang = angVel;
+
+  // Convert the target velocities to joint velocities and angles
+  double turningRadius = linVel / angVel;
+  double minimumTurningRadius = this->wheelBase / sin(this->steeringLimit);
+  if ((turningRadius >= 0.0) && (turningRadius < minimumTurningRadius))
+  {
+    turningRadius = minimumTurningRadius;
+  }
+  if ((turningRadius <= 0.0) && (turningRadius > -minimumTurningRadius))
+  {
+    turningRadius = -minimumTurningRadius;
+  }
+  // special case for angVel of zero
+  if (fabs(angVel) < 0.001)
+  {
+    turningRadius = 1000000000.0;
+  }
+
+  double leftSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius - (this->kingpinWidth / 2.0)));
+  double rightSteeringJointAngle =
+      atan(this->wheelBase / (turningRadius + (this->kingpinWidth / 2.0)));
+  double phi = atan(this->wheelBase / turningRadius);
+
+  // Partially simulate a simple differential
+  this->rightJointSpeed =
+      (linVel * (1.0 + (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+  this->leftJointSpeed =
+      (linVel * (1.0 - (this->wheelSeparation * tan(phi)) /
+                 (2.0 * this->wheelBase))) / this->wheelRadius;
+
+  auto leftSteeringPos = _ecm.Component<components::JointPosition>(
+      this->leftSteeringJoints[0]);
+  auto rightSteeringPos = _ecm.Component<components::JointPosition>(
+      this->rightSteeringJoints[0]);
+
+  // Abort if the joints were not found or just created.
+  if (!leftSteeringPos || !rightSteeringPos ||
+      leftSteeringPos->Data().empty() ||
+      rightSteeringPos->Data().empty())
+  {
+    return;
+  }
+
+  double leftDelta = leftSteeringJointAngle - leftSteeringPos->Data()[0];
+  double rightDelta = rightSteeringJointAngle - rightSteeringPos->Data()[0];
+
+  // Simple proportional control with a gain of 1
+  // Adding programmable PID values might be a future feature.
+  // Works as is for tested cases
+  this->leftSteeringJointSpeed = leftDelta;
+  this->rightSteeringJointSpeed = rightDelta;
+}
+
+//////////////////////////////////////////////////
+void AckermannSteeringPrivate::OnCmdVel(const msgs::Twist &_msg)
+{
+  std::lock_guard<std::mutex> lock(this->mutex);
+  this->targetVel = _msg;
+}
+
+IGNITION_ADD_PLUGIN(AckermannSteering,
+                    ignition::gazebo::System,
+                    AckermannSteering::ISystemConfigure,
+                    AckermannSteering::ISystemPreUpdate,
+                    AckermannSteering::ISystemPostUpdate)
+
+IGNITION_ADD_PLUGIN_ALIAS(AckermannSteering,
+                          "ignition::gazebo::systems::AckermannSteering")
diff --git a/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
new file mode 100644
index 00000000..c2a7d2d4
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/AckermannSteering.hh
@@ -0,0 +1,139 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+#define IGNITION_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration
+  class AckermannSteeringPrivate;
+
+  /// \brief Ackermann steering controller which can be attached to a model
+  /// with any number of left and right wheels.
+  ///
+  /// # System Parameters
+  ///
+  /// `<left_joint>`: Name of a joint that controls a left wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<right_joint>`: Name of a joint that controls a right wheel. This
+  /// element can appear multiple times, and must appear at least once.
+  ///
+  /// `<left_steering_joint>`: Name of a joint that controls steering for
+  ///  left wheel. This element must appear once.  Vehicles that steer
+  ///  rear wheels are not currently correctly supported.
+  ///
+  /// `<right_steering_joint>`: Name of a joint that controls steering for
+  ///  right wheel. This element must appear once.
+  ///
+  /// `<wheel_separation>`: Distance between wheels, in meters. This element
+  /// is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<kingpin_width>`: Distance between wheel kingpins, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 0.8m.  Generally a bit smaller
+  /// than the wheel_separation.
+  ///
+  /// `<wheel_base>`: Distance between front and rear wheels, in meters. This
+  /// element is optional, although it is recommended to be included with an
+  /// appropriate value. The default value is 1.0m.
+  ///
+  /// `<steering_limit>`: Value to limit steering to.  Can be calculated by
+  /// measuring the turning radius and wheel_base of the real vehicle.
+  /// steering_limit = asin(wheel_base / turning_radius)
+  /// The default value is 0.5 radians.
+  ///
+  /// `<wheel_radius>`: Wheel radius in meters. This element is optional,
+  /// although it is recommended to be included with an appropriate value. The
+  /// default value is 0.2m.
+  ///
+  /// `<odom_publish_frequency>`: Odometry publication frequency. This
+  /// element is optional, and the default value is 50Hz.
+  ///
+  /// '<min_velocity>': Minimum velocity [m/s], usually <= 0.
+  /// '<max_velocity>': Maximum velocity [m/s], usually >= 0.
+  /// '<min_acceleration>': Minimum acceleration [m/s^2], usually <= 0.
+  /// '<max_acceleration>': Maximum acceleration [m/s^2], usually >= 0.
+  /// '<min_jerk Minimum>': jerk [m/s^3], usually <= 0.
+  /// '<max_jerk Maximum>': jerk [m/s^3], usually >= 0.
+  ///
+  /// `<topic>`: Custom topic that this system will subscribe to in order to
+  /// receive command velocity messages. This element if optional, and the
+  /// default value is `/model/{name_of_model}/cmd_vel`.
+  ///
+  /// `<odom_topic>`: Custom topic on which this system will publish odometry
+  /// messages. This element if optional, and the default value is
+  /// `/model/{name_of_model}/odometry`.
+  ///
+  /// A robot with rear drive and front steering would have one each
+  /// of left_joint, right_joint, left_steering_joint and
+  /// right_steering_joint
+  ///
+  /// References:
+  /// https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo4/src/systems/diff_drive
+  /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
+  /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
+
+
+  class IGNITION_GAZEBO_VISIBLE AckermannSteering
+      : public System,
+        public ISystemConfigure,
+        public ISystemPreUpdate,
+        public ISystemPostUpdate
+  {
+    /// \brief Constructor
+    public: AckermannSteering();
+
+    /// \brief Destructor
+    public: ~AckermannSteering() override = default;
+
+    // Documentation inherited
+    public: void Configure(const Entity &_entity,
+                           const std::shared_ptr<const sdf::Element> &_sdf,
+                           EntityComponentManager &_ecm,
+                           EventManager &_eventMgr) override;
+
+    // Documentation inherited
+    public: void PreUpdate(
+                const ignition::gazebo::UpdateInfo &_info,
+                ignition::gazebo::EntityComponentManager &_ecm) override;
+
+    // Documentation inherited
+    public: void PostUpdate(
+                const UpdateInfo &_info,
+                const EntityComponentManager &_ecm) override;
+
+    /// \brief Private data pointer
+    private: std::unique_ptr<AckermannSteeringPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
diff --git a/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
new file mode 100644
index 00000000..ebae2b5b
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.cc
@@ -0,0 +1,209 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  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 the PAL 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 WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  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.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#include <ignition/math/Helpers.hh>
+
+#include "SpeedLimiter.hh"
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
+
+/// \brief Private SpeedLimiter data class.
+class ignition::gazebo::systems::SpeedLimiterPrivate
+{
+  /// \brief Class constructor.
+  /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+  /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+  /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+  /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+  /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+  /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+  /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+  /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+  /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+  public: SpeedLimiterPrivate(bool _hasVelocityLimits,
+                              bool _hasAccelerationLimits,
+                              bool _hasJerkLimits,
+                              double _minVelocity,
+                              double _maxVelocity,
+                              double _minAcceleration,
+                              double _maxAcceleration,
+                              double _minJerk,
+                              double _maxJerk)
+    : hasVelocityLimits(_hasVelocityLimits),
+      hasAccelerationLimits(_hasAccelerationLimits),
+      hasJerkLimits(_hasJerkLimits),
+      minVelocity(_minVelocity),
+      maxVelocity(_maxVelocity),
+      minAcceleration(_minAcceleration),
+      maxAcceleration(_maxAcceleration),
+      minJerk(_minJerk),
+      maxJerk(_maxJerk)
+  {
+  }
+
+  /// \brief Enable/Disable velocity.
+  public: bool hasVelocityLimits;
+
+  /// \brief Enable/Disable acceleration.
+  public: bool hasAccelerationLimits;
+
+  /// \brief Enable/Disable jerk.
+  public: bool hasJerkLimits;
+
+  /// \brief Minimum velocity limit.
+  public: double minVelocity;
+
+  /// \brief Maximum velocity limit.
+  public: double maxVelocity;
+
+  /// \brief Minimum acceleration limit.
+  public: double minAcceleration;
+
+  /// \brief Maximum acceleration limit.
+  public: double maxAcceleration;
+
+  /// \brief Minimum jerk limit.
+  public: double minJerk;
+
+  /// \brief Maximum jerk limit.
+  public: double maxJerk;
+};
+
+//////////////////////////////////////////////////
+SpeedLimiter::SpeedLimiter(bool   _hasVelocityLimits,
+                           bool   _hasAccelerationLimits,
+                           bool   _hasJerkLimits,
+                           double _minVelocity,
+                           double _maxVelocity,
+                           double _minAcceleration,
+                           double _maxAcceleration,
+                           double _minJerk,
+                           double _maxJerk)
+  : dataPtr(std::make_unique<SpeedLimiterPrivate>(_hasVelocityLimits,
+      _hasAccelerationLimits, _hasJerkLimits, _minVelocity, _maxVelocity,
+      _minAcceleration, _maxAcceleration, _minJerk, _maxJerk))
+{
+}
+
+//////////////////////////////////////////////////
+SpeedLimiter::~SpeedLimiter()
+{
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::Limit(double &_v, double _v0, double _v1, double _dt) const
+{
+  const double tmp = _v;
+
+  this->LimitJerk(_v, _v0, _v1, _dt);
+  this->LimitAcceleration(_v, _v0, _dt);
+  this->LimitVelocity(_v);
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitVelocity(double &_v) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasVelocityLimits)
+  {
+    _v = ignition::math::clamp(
+      _v, this->dataPtr->minVelocity, this->dataPtr->maxVelocity);
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitAcceleration(double &_v, double _v0, double _dt) const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasAccelerationLimits)
+  {
+    const double dvMin = this->dataPtr->minAcceleration * _dt;
+    const double dvMax = this->dataPtr->maxAcceleration * _dt;
+
+    const double dv = ignition::math::clamp(_v - _v0, dvMin, dvMax);
+
+    _v = _v0 + dv;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
+
+//////////////////////////////////////////////////
+double SpeedLimiter::LimitJerk(double &_v, double _v0, double _v1, double _dt)
+  const
+{
+  const double tmp = _v;
+
+  if (this->dataPtr->hasJerkLimits)
+  {
+    const double dv  = _v  - _v0;
+    const double dv0 = _v0 - _v1;
+
+    const double dt2 = 2. * _dt * _dt;
+
+    const double daMin = this->dataPtr->minJerk * dt2;
+    const double daMax = this->dataPtr->maxJerk * dt2;
+
+    const double da = ignition::math::clamp(dv - dv0, daMin, daMax);
+
+    _v = _v0 + dv0 + da;
+  }
+
+  if (ignition::math::equal(tmp, 0.0))
+    return 1.0;
+  else
+    return _v / tmp;
+}
diff --git a/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
new file mode 100644
index 00000000..5a86ac2b
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/src/SpeedLimiter.hh
@@ -0,0 +1,130 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2013, PAL Robotics, S.L.
+ *  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 the PAL 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 WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  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.
+ *********************************************************************/
+
+/*
+ * Author: Enrique Fernández
+ * Modified: Carlos Agüero
+ */
+
+#ifndef IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+#define IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_
+
+#include <memory>
+
+#include <ignition/gazebo/System.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+namespace systems
+{
+  // Forward declaration.
+  class SpeedLimiterPrivate;
+
+  /// \brief Class to limit velocity, acceleration and jerk.
+  /// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller
+  class IGNITION_GAZEBO_VISIBLE SpeedLimiter
+  {
+    /// \brief Constructor.
+    /// \param [in] _hasVelocityLimits     if true, applies velocity limits.
+    /// \param [in] _hasAccelerationLimits if true, applies acceleration limits.
+    /// \param [in] _hasJerkLimits         if true, applies jerk limits.
+    /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0.
+    /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0.
+    /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0.
+    /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0.
+    /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0.
+    /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0.
+    public: SpeedLimiter(bool   _hasVelocityLimits     = false,
+                         bool   _hasAccelerationLimits = false,
+                         bool   _hasJerkLimits         = false,
+                         double _minVelocity           = 0.0,
+                         double _maxVelocity           = 0.0,
+                         double _minAcceleration       = 0.0,
+                         double _maxAcceleration       = 0.0,
+                         double _minJerk               = 0.0,
+                         double _maxJerk               = 0.0);
+
+    /// \brief Destructor.
+    public: ~SpeedLimiter();
+
+    /// \brief Limit the velocity and acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double Limit(double &_v,
+                         double _v0,
+                         double _v1,
+                         double _dt) const;
+
+    /// \brief Limit the velocity.
+    /// \param [in, out] _v Velocity [m/s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitVelocity(double &_v) const;
+
+    /// \brief Limit the acceleration.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    public: double LimitAcceleration(double &_v,
+                                     double _v0,
+                                     double _dt) const;
+
+    /// \brief Limit the jerk.
+    /// \param [in, out] _v  Velocity [m/s].
+    /// \param [in]      _v0 Previous velocity to v  [m/s].
+    /// \param [in]      _v1 Previous velocity to v0 [m/s].
+    /// \param [in]      _dt Time step [s].
+    /// \return Limiting factor (1.0 if none).
+    /// \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control.
+    public: double LimitJerk(double &_v,
+                             double _v0,
+                             double _v1,
+                             double _dt) const;
+
+    /// \brief Private data pointer.
+    private: std::unique_ptr<SpeedLimiterPrivate> dataPtr;
+  };
+  }
+}
+}
+}
+
+#endif
diff --git a/submitted_models/coro_karen_sensor_config_1/thumbnails/1.png b/submitted_models/coro_karen_sensor_config_1/thumbnails/1.png
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diff --git a/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
new file mode 100644
index 00000000..e69de29b
diff --git a/submitted_models/coro_karen_sensor_config_1/worlds/example.sdf b/submitted_models/coro_karen_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..73451cc9
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/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/coro_karen_sensor_config_2/CMakeLists.txt b/submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
new file mode 100644
index 00000000..d526a382
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coro_karen_sensor_config_2)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
new file mode 100644
index 00000000..a2f2a116
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/launch/spawner.rb
@@ -0,0 +1,126 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <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>
+      <!-- Ackermann Steering -->
+      <plugin filename="libackermannlocal.so"
+              name="ignition::gazebo::systems::AckermannSteering">
+        <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>
+        <left_steering_joint>front_left_wheel_steering_joint</left_steering_joint>
+        <right_steering_joint>front_right_wheel_steering_joint</right_steering_joint>
+        <wheel_separation>0.65</wheel_separation>
+        <kingpin_width>0.44</kingpin_width>
+        <steering_limit>0.187</steering_limit>
+        <wheel_base>0.93</wheel_base>
+        <wheel_radius>0.175</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-1.0</min_velocity>
+        <max_velocity>1.0</max_velocity>
+        <min_acceleration>-3</min_acceleration>
+        <max_acceleration>3</max_acceleration>
+      </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>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </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>9.9</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>
+        <disable_physics_time>3.0</disable_physics_time>
+        <topic_statistics>true</topic_statistics>
+        <breadcrumb>
+          <sdf version="1.6">
+            <model name="#{_name}__breadcrumb__">
+              <pose>-0.64 0 0 0 0 0</pose>
+              <include>
+                <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
+             </include>
+           </model>
+         </sdf>
+        </breadcrumb>
+      </plugin>
+      <!-- Wheel slip -->
+      <plugin filename="libignition-gazebo-wheel-slip-system.so"
+        name="ignition::gazebo::systems::WheelSlip">
+        <wheel link_name="front_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_left_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="front_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+        <wheel link_name="rear_right_wheel">
+          <slip_compliance_lateral>0.172</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
+          <wheel_normal_force>269.7</wheel_normal_force>
+          <wheel_radius>0.1275</wheel_radius>
+        </wheel>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait coro_karen_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}  breadcrumbs:=1</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/coro_karen_sensor_config_2/package.xml b/submitted_models/coro_karen_sensor_config_2/package.xml
new file mode 100644
index 00000000..34d43656
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_2/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coro_karen_sensor_config_2</name>
+  <version>0.0.1</version>
+  <description>Karen is a Coordinated Robotics robot with 3D LIDAR and RGBD cameras.</description>
+
+  <author email="ak619@lafn.org">Kevin Knoedler</author>
+  <maintainer email="ak619@lafn.org">Kevin Knoedler</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>roslaunch</buildtool_depend>
+  <buildtool_depend>urdf</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>message_runtime</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
+  <export>
+  </export>
+</package>

From cf71e591a0952e8db2d61da0b928a8857d587e6e Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 1 Apr 2021 07:20:55 -0700
Subject: [PATCH 13/18] Model updates

---
 submitted_models/coro_karen_sensor_config_1/CMakeLists.txt    | 1 +
 .../coro_karen_sensor_config_1/launch/description.launch      | 4 +---
 .../coro_karen_sensor_config_1/launch/example.ign             | 3 ++-
 submitted_models/coro_karen_sensor_config_1/model.sdf         | 2 +-
 submitted_models/coro_karen_sensor_config_1/specifications.md | 3 +--
 submitted_models/coro_karen_sensor_config_1/urdf/model.urdf   | 0
 6 files changed, 6 insertions(+), 7 deletions(-)
 delete mode 100644 submitted_models/coro_karen_sensor_config_1/urdf/model.urdf

diff --git a/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
index 8a3bcbf2..88d66736 100644
--- a/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
+++ b/submitted_models/coro_karen_sensor_config_1/CMakeLists.txt
@@ -12,6 +12,7 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(ignition-gazebo4 REQUIRED)
 find_package(ignition-transport9 REQUIRED)
 find_package(ignition-common3 REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/description.launch b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
index 4a100b08..83a74835 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/description.launch
+++ b/submitted_models/coro_karen_sensor_config_1/launch/description.launch
@@ -1,8 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="name" doc="Name of Vehicle"/>
-  <!--
-  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/model.urdf' name:=$(arg name)"/>
-  -->
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find coro_karen_sensor_config_1)/urdf/karen.xacro' name:=$(arg name)"/>
 </launch>
 
diff --git a/submitted_models/coro_karen_sensor_config_1/launch/example.ign b/submitted_models/coro_karen_sensor_config_1/launch/example.ign
index 8d4901a4..183e2b73 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/example.ign
+++ b/submitted_models/coro_karen_sensor_config_1/launch/example.ign
@@ -163,8 +163,9 @@
   </executable_wrapper>
   <%end%>
 
+<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
 <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
+</plugin>
 <%= rosExecutables(robotName, $worldName) %>
  
 </ignition>
-
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 6198fbdc..37884221 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-  <model name="CORO_KAREN">
+  <model name="coro_karen_sensor_config_1">
     <enable_wind>1</enable_wind>
     <static>0</static>
     <pose>0 0 0.1275 0 0 0</pose>
diff --git a/submitted_models/coro_karen_sensor_config_1/specifications.md b/submitted_models/coro_karen_sensor_config_1/specifications.md
index ced566fa..a3408ad7 100644
--- a/submitted_models/coro_karen_sensor_config_1/specifications.md
+++ b/submitted_models/coro_karen_sensor_config_1/specifications.md
@@ -93,7 +93,7 @@ and the simulator slopes are ~30 degrees.  Based on the weight balance, motor to
 I believe the physical vehicle can go to 40 degrees or so, but that has not been validated.
 
 
-# <a name="validation_links"></a>Karen Validation and Specification Links
+## Karen Validation and Specification Links
 
 * Vehicle - https://smprobotics.com/products_autonomous_ugv/
 * VLP-16 LIDAR -  https://www.mapix.com/wp-content/uploads/2018/07/63-9229_Rev-H_Puck-_Datasheet_Web-1.pdf
@@ -103,4 +103,3 @@ I believe the physical vehicle can go to 40 degrees or so, but that has not been
 * Arducam LN008 - https://www.arducam.com/product/m25156h14/
 * D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/
 * Seek Thermal Compact - https://www.thermal.com/uploads/1/0/1/3/101388544/compact-sellsheet-usa_web.pdf
-
diff --git a/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf b/submitted_models/coro_karen_sensor_config_1/urdf/model.urdf
deleted file mode 100644
index e69de29b..00000000

From c2d07c5e6bda9ce8f129a36f6cb6f3ea5f13ab85 Mon Sep 17 00:00:00 2001
From: Kevin <ak619@lafn.org>
Date: Thu, 1 Apr 2021 08:06:33 -0700
Subject: [PATCH 14/18] Added missing xacro

---
 .../urdf/karen.xacro                          | 466 ++++++++++++++++++
 1 file changed, 466 insertions(+)
 create mode 100644 submitted_models/coro_karen_sensor_config_1/urdf/karen.xacro

diff --git a/submitted_models/coro_karen_sensor_config_1/urdf/karen.xacro b/submitted_models/coro_karen_sensor_config_1/urdf/karen.xacro
new file mode 100644
index 00000000..bc288789
--- /dev/null
+++ b/submitted_models/coro_karen_sensor_config_1/urdf/karen.xacro
@@ -0,0 +1,466 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name='coro_karen_sensor_config_1' xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:arg name="name" default="coro_karen_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+  <link name='${robot_namespace}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0.0725' rpy='0 -0 0'/>
+      <mass value='90'/>
+      <inertia ixx='3.333' ixy='0' ixz='0' iyy='9.733' iyz='0' izz='9.733'/>
+    </inertial>
+    <collision name='chassis_collision'>
+      <origin xyz='0 0 0.25' rpy='0 -0 0'/>
+      <geometry>
+        <box size='1.1 0.7 0.4'/>
+      </geometry>
+    </collision>
+    <collision name='tower_collision'>
+      <origin xyz='0.13 0 0.27' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.34'/>
+      </geometry>
+    </collision>
+    <visual name='chassis_main_visual'>
+      <origin xyz='0 0 0.15' rpy='0 -0 0'/>
+      <geometry>
+        <box size='1 0.45 0.2'/>
+      </geometry>
+    </visual>
+    <visual name='front_side'>
+      <origin xyz='0.5 0 0.3' rpy='1.5707 -0 0'/>
+      <geometry>
+        <cylinder radius='0.07' length='0.55'/>
+      </geometry>
+    </visual>
+    <visual name='back_side'>
+      <origin xyz='-0.5 0 0.3' rpy='1.5707 -0 0'/>
+      <geometry>
+        <cylinder radius='0.07' length='0.55'/>
+      </geometry>
+    </visual>
+    <visual name='left_side'>
+      <origin xyz='0 0.25 0.3' rpy='0 1.5707 0'/>
+      <geometry>
+        <cylinder radius='0.07' length='1'/>
+      </geometry>
+    </visual>
+    <visual name='right_side'>
+      <origin xyz='0 -0.25 0.3' rpy='0 1.5707 0'/>
+      <geometry>
+        <cylinder radius='0.07' length='1'/>
+      </geometry>
+    </visual>
+    <visual name='differential_visual'>
+      <origin xyz='-0.5 0 0' rpy='1.5707 -0 0'/>
+      <geometry>
+        <cylinder radius='0.06' length='0.44'/>
+      </geometry>
+    </visual>
+    <visual name='plate1_visual'>
+      <origin xyz='0.37 0 0.66' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='plate2_visual'>
+      <origin xyz='0.37 0 0.55' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='plate3_visual'>
+      <origin xyz='0.37 0 0.36' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.2 0.005'/>
+      </geometry>
+    </visual>
+    <visual name='beam1_visual'>
+      <origin xyz='0.461 0.091 0.51' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='beam2_visual'>
+      <origin xyz='0.461 -0.091 0.51' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.3'/>
+      </geometry>
+    </visual>
+    <visual name='beam3_visual'>
+      <origin xyz='0.279 0.091 0.41' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.5'/>
+      </geometry>
+    </visual>
+    <visual name='beam4_visual'>
+      <origin xyz='0.279 -0.091 0.41' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.02 0.5'/>
+      </geometry>
+    </visual>
+    <visual name='d435i_realsense_camera_visual'>
+      <origin xyz='0.43 0 0.634' rpy='0 0.52 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/realsense_d435.dae' scale='0.001 0.001 0.001'/>
+      </geometry>
+    </visual>
+    <visual name='vlp16_visual1'>
+      <origin xyz='0.37 0 0.552' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/VLP16_base_1.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='vlp_visual2'>
+      <origin xyz='0.37 0 0.552' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/VLP16_base_2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='vlp_visual3'>
+      <origin xyz='0.37 0 0.552' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/VLP16_scan.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_bottom_visual'>
+      <origin xyz='0.13 -0.13 0.26' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.015' length='0.015'/>
+      </geometry>
+    </visual>
+    <visual name='emergency_stop_top_visual'>
+      <origin xyz='0.13 -0.13 0.27' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.02' length='0.005'/>
+      </geometry>
+    </visual>
+    <visual name='thermal_camera_visual'>
+      <origin xyz='0.45 -0.06 0.645' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.02 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_front_visual'>
+      <origin xyz='0.46 0.06 0.645' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_front_visual'>
+      <origin xyz='0.47 0.06 0.645' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_rear_visual'>
+      <origin xyz='0.28 0 0.645' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.01 0.03 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_rear_visual'>
+      <origin xyz='0.27 0 0.645' rpy='0 1.5708 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_left_visual'>
+      <origin xyz='0.37 0.09 0.645' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.01 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_left_visual'>
+      <origin xyz='0.37 0.1 0.645' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='camera_right_visual'>
+      <origin xyz='0.37 -0.09 0.645' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.01 0.03'/>
+      </geometry>
+    </visual>
+    <visual name='camera_lens_right_visual'>
+      <origin xyz='0.37 -0.1 0.645' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.005' length='0.011'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_left_visual'>
+      <origin xyz='0.44 0.23 0.41' rpy='0 -0 0.75'/>
+      <geometry>
+        <box size='0.01 0.12 0.08'/>
+      </geometry>
+    </visual>
+    <visual name='light_front_right_visual'>
+      <origin xyz='0.44 -0.23 0.41' rpy='0 0 -0.75'/>
+      <geometry>
+        <box size='0.01 0.12 0.08'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_left_visual'>
+      <origin xyz='-0.3 0.25 0.41' rpy='0 0 -0.75'/>
+      <geometry>
+        <box size='0.01 0.12 0.08'/>
+      </geometry>
+    </visual>
+    <visual name='light_rear_right_visual'>
+      <origin xyz='-0.3 -0.25 0.41' rpy='0 -0 0.75'/>
+      <geometry>
+        <box size='0.01 0.12 0.08'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer' update_rate='50'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='thermal_camera' update_rate='9'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.48 -0.06 0.645' rpy='0 -0 0'/>
+    <camera>
+      <image width='206' height='156' format='R8G8B8' hfov='0.628' near='0.1' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='rs_front' update_rate='30'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.45 0 0.634' rpy='0 0.52 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.50098' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='front_laser' update_rate='10'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.37 0 0.592' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='camera_front' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.48 0.06 0.645' rpy='0 -0 0'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_rear' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.26 0 0.645' rpy='0 -0 3.14159'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_left' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.37 0.11 0.645' rpy='0 -0 1.5708'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='camera_right' update_rate='25'>
+    <parent link='${robot_namespace}/base_link'/>
+    <origin xyz='0.37 -0.11 0.645' rpy='0 0 -1.5708'/>
+    <camera>
+      <image width='720' height='1080' format='R8G8B8' hfov='1.658' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/front_left_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.03' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel_steering_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.5'/>
+      <inertia ixx='0.0153' ixy='0' ixz='0' iyy='0.025' iyz='0' izz='0.0153'/>
+    </inertial>
+    <visual name='steering_link_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <cylinder radius='0.03' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.043' ixy='0' ixz='0' iyy='0.076' iyz='0' izz='0.043'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.175' length='0.11'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/wheel.dae' scale='1.01 1 1.01'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.01 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.043' ixy='0' ixz='0' iyy='0.076' iyz='0' izz='0.043'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.175' length='0.11'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/wheel.dae' scale='1.01 1 1.01'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.01 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.043' ixy='0' ixz='0' iyy='0.076' iyz='0' izz='0.043'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.175' length='0.11'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/wheel.dae' scale='1.01 1 1.01'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 -0.01 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 -0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='5'/>
+      <inertia ixx='0.043' ixy='0' ixz='0' iyy='0.076' iyz='0' izz='0.043'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.175' length='0.11'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://coro_karen_sensor_config_1/meshes/wheel.dae' scale='1.01 1 1.01'/>
+      </geometry>
+    </visual>
+    <visual name='hub_visual'>
+      <origin xyz='0 0.01 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.04' length='0.025'/>
+      </geometry>
+    </visual>
+    <visual name='axis_visual'>
+      <origin xyz='0 0.08 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.008' length='0.1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.465 0.22 0.02' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='150' velocity='1'/>
+  </joint>
+  <joint name='front_right_wheel_steering_joint' type='revolute'>
+    <origin xyz='0.465 -0.22 0.02' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-0.6' upper='0.6' effort='150' velocity='1'/>
+  </joint>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0.465 0.325 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_left_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='35' velocity='9.71'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0.465 -0.325 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/front_right_wheel_steering_link'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='35' velocity='9.71'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.465 0.325 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='35' velocity='9.71'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.465 -0.325 0' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/base_link'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='35' velocity='9.71'/>
+  </joint>
+</robot>

From 12b3f5b5137aa0d64427078d17d7e0d156170a47 Mon Sep 17 00:00:00 2001
From: Arthur Schang <arthur.c.schang2.ctr@mail.mil>
Date: Thu, 1 Apr 2021 14:06:15 -0400
Subject: [PATCH 15/18] Aligned thermal camera range with the repository
 standard.

---
 submitted_models/coro_karen_sensor_config_1/model.sdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 5315dde1..99734815 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -428,7 +428,7 @@
           </image>
           <clip>
             <near>0.1</near>
-            <far>300</far>
+            <far>100</far>
           </clip>
         </camera>
         <always_on>1</always_on>

From 48e238a5159a24195d4294099e4d6f9baf6ce69c Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 1 Apr 2021 11:08:48 -0700
Subject: [PATCH 16/18] Thermal camera range of 100m

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 submitted_models/coro_karen_sensor_config_1/model.sdf | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 5315dde1..99734815 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -428,7 +428,7 @@
           </image>
           <clip>
             <near>0.1</near>
-            <far>300</far>
+            <far>100</far>
           </clip>
         </camera>
         <always_on>1</always_on>

From 39da2545e39adee9c7da2e7b43d874b1396f697c Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 1 Apr 2021 12:02:34 -0700
Subject: [PATCH 17/18] fix color and transparency

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 .../meshes/wheel.dae                          |  12 -
 .../coro_karen_sensor_config_1/model.sdf      | 236 +++++++++---------
 2 files changed, 118 insertions(+), 130 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae b/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
index c76f842c..bd0db0b8 100644
--- a/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
+++ b/submitted_models/coro_karen_sensor_config_1/meshes/wheel.dae
@@ -35,12 +35,6 @@
             <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>
@@ -70,12 +64,6 @@
             <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>
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index 99734815..f64526f3 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -8,13 +8,13 @@
       <inertial>
         <pose>0 0 0.0725 0 0 0</pose>
         <mass>90.0</mass>
-	<inertia>
-	  <ixx>3.333</ixx>
-	  <iyy>9.733</iyy>
-	  <izz>9.733</izz>
-	</inertia>
+        <inertia>
+          <ixx>3.333</ixx>
+          <iyy>9.733</iyy>
+          <izz>9.733</izz>
+        </inertia>
       </inertial>
-      
+
       <collision name="chassis_collision">
         <pose>0 0 0.25 0 0 0</pose>
         <geometry>
@@ -33,8 +33,8 @@
         </geometry>
       </collision>
 
-      
-      
+
+
       <visual name="chassis_main_visual">
         <pose>0 0 0.15 0 0 0</pose>
         <geometry>
@@ -43,11 +43,11 @@
           </box>
         </geometry>
         <material>
-          <ambient>240 240 240 1</ambient>
-          <diffuse>240 240 240 1</diffuse>
+          <ambient>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</ambient>
+          <diffuse>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</diffuse>
         </material>
       </visual>
-      
+
       <visual name="front_side">
         <pose>0.5 0 0.3 1.5707 0 0</pose>
         <geometry>
@@ -57,11 +57,11 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>100 100 235 1</ambient>
-          <diffuse>100 100 235 1</diffuse>
+          <ambient>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</ambient>
+          <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-      
+
       <visual name="back_side">
         <pose>-0.5 0 0.3 1.5707 0 0</pose>
         <geometry>
@@ -71,11 +71,11 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>100 100 235 1</ambient>
-          <diffuse>100 100 235 1</diffuse>
+          <ambient>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</ambient>
+          <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-      
+
       <visual name="left_side">
         <pose>0 0.25 0.3 0 1.5707 0</pose>
         <geometry>
@@ -85,11 +85,11 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>100 100 235 1</ambient>
-          <diffuse>100 100 235 1</diffuse>
+          <ambient>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</ambient>
+          <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-      
+
       <visual name="right_side">
         <pose>0 -0.25 0.3 0 1.5707 0</pose>
         <geometry>
@@ -99,12 +99,12 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>100 100 235 1</ambient>
-          <diffuse>100 100 235 1</diffuse>
+          <ambient>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</ambient>
+          <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
-      
-      
+
+
       <visual name="differential_visual">
         <pose>-0.5 0 0.0 1.5707 0 0</pose>
         <geometry>
@@ -114,8 +114,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>100 100 235 1</ambient>
-          <diffuse>100 100 235 1</diffuse>
+          <ambient>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</ambient>
+          <diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
         </material>
       </visual>
 
@@ -130,8 +130,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
 
@@ -143,8 +143,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
 
@@ -156,8 +156,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>240 240 240 1</ambient>
-          <diffuse>240 240 240 1</diffuse>
+          <ambient>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</ambient>
+          <diffuse>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</diffuse>
         </material>
       </visual>
 
@@ -169,8 +169,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
       <visual name="beam2_visual">
@@ -181,8 +181,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
       <visual name="beam3_visual">
@@ -193,8 +193,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
       <visual name="beam4_visual">
@@ -205,8 +205,8 @@
           </box>
         </geometry>
         <material>
-          <ambient>200 200 200 1</ambient>
-          <diffuse>200 200 200 1</diffuse>
+          <ambient>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</ambient>
+          <diffuse>0.7843137254901961 0.7843137254901961 0.7843137254901961 1</diffuse>
         </material>
       </visual>
 
@@ -249,8 +249,8 @@
       </visual>
 
 
-      
-      
+
+
       <visual name="emergency_stop_bottom_visual">
         <pose>0.13 -0.13 0.26 0 0 0</pose>
         <geometry>
@@ -260,8 +260,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>180 180 180</ambient>
-          <diffuse>180 180 180</diffuse>
+          <ambient>0.7058823529411765 0.7058823529411765 0.7058823529411765 1.0</ambient>
+          <diffuse>0.7058823529411765 0.7058823529411765 0.7058823529411765 1.0</diffuse>
         </material>
       </visual>
       <visual name="emergency_stop_top_visual">
@@ -273,14 +273,14 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>255 0 0</ambient>
-          <diffuse>255 0 0</diffuse>
+          <ambient>1.0 0 0 1.0</ambient>
+          <diffuse>1.0 0 0 1.0</diffuse>
         </material>
       </visual>
-      
-      
-      
-      
+
+
+
+
       <!-- IMU  -->
       <sensor name="imu_sensor" type="imu">
         <always_on>1</always_on>
@@ -358,8 +358,8 @@
           </linear_acceleration>
         </imu>
       </sensor>
-      
-      
+
+
       <sensor name="magnetometer" type="magnetometer">
         <always_on>1</always_on>
         <update_rate>50</update_rate>
@@ -384,7 +384,7 @@
           </z>
         </magnetometer>
       </sensor>
-      
+
       <sensor name="air_pressure" type="air_pressure">
         <always_on>1</always_on>
         <update_rate>20</update_rate>
@@ -399,7 +399,7 @@
 
       <!-- thermal camera -->
       <visual name="thermal_camera_visual">
-        <pose> 0.45 -0.06 0.645 0 0 0</pose>
+        <pose>0.45 -0.06 0.645 0 0 0</pose>
         <geometry>
           <box>
             <size>0.02 0.03 0.03</size>
@@ -407,7 +407,7 @@
         </geometry>
       </visual>
       <sensor name="thermal_camera" type="thermal">
-        <pose> 0.48 -0.06 0.645 0 0 0</pose>
+        <pose>0.48 -0.06 0.645 0 0 0</pose>
         <camera name="thermal_camera">
           <horizontal_fov>0.628</horizontal_fov>
           <lens>
@@ -434,9 +434,9 @@
         <always_on>1</always_on>
         <update_rate>9</update_rate>
       </sensor>
-      
-      
-	    
+
+
+
       <!-- Based on Intel realsense D435 (intrinsics and distortion not modeled)-->
       <sensor name="rs_front" type="rgbd_camera">
         <pose>0.45 0 0.634 0 0.52 0</pose>
@@ -487,12 +487,12 @@
         </camera>
       </sensor>
 
-		 
+
 
 
       <!-- 3D Velodyne VLP-16 lidar -->
 
-      
+
       <sensor name="front_laser" type="gpu_ray">
         <pose>0.37 0 0.592 0 0 0</pose>
         <update_rate>10</update_rate>
@@ -806,7 +806,7 @@
         </camera>
       </sensor>
 
-      
+
 
       <light name="light_front_left" type="spot">
         <pose>0.45 0.23 0.44 1.5 0 -0.75</pose>
@@ -880,56 +880,56 @@
         <direction>0 -1 0</direction>
         <cast_shadows>1</cast_shadows>
       </light>
-      
+
       <visual name="light_front_left_visual">
         <pose>0.44 0.23 0.41 0 0 0.75</pose>
         <geometry>
-	  <box>
-	    <size>0.01 0.12 0.08</size>
-	  </box>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
         </geometry>
         <material>
-          <ambient>255 255 255</ambient>
-          <diffuse>255 255 255</diffuse>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
       <visual name="light_front_right_visual">
         <pose>0.44 -0.23 0.41 0 0 -0.75</pose>
         <geometry>
-	  <box>
-	    <size>0.01 0.12 0.08</size>
-	  </box>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
         </geometry>
         <material>
-          <ambient>255 255 255</ambient>
-          <diffuse>255 255 255</diffuse>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
       <visual name="light_rear_left_visual">
         <pose>-0.3 0.25 0.41 0 0 -0.75</pose>
         <geometry>
-	  <box>
-	    <size>0.01 0.12 0.08</size>
-	  </box>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
         </geometry>
         <material>
-          <ambient>255 255 255</ambient>
-          <diffuse>255 255 255</diffuse>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
       <visual name="light_rear_right_visual">
         <pose>-0.3 -0.25 0.41 0 0 0.75</pose>
         <geometry>
-	  <box>
-	    <size>0.01 0.12 0.08</size>
-	  </box>
+          <box>
+            <size>0.01 0.12 0.08</size>
+          </box>
         </geometry>
         <material>
-          <ambient>255 255 255</ambient>
-          <diffuse>255 255 255</diffuse>
+          <ambient>1.0 1.0 1.0 1.0</ambient>
+          <diffuse>1.0 1.0 1.0 1.0</diffuse>
         </material>
       </visual>
-      
+
     </link>
 
 
@@ -953,12 +953,12 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>11 11 11</ambient>
-          <diffuse>11 11 11</diffuse>
+          <ambient>0.043137254901960784 0.043137254901960784 0.043137254901960784 1.0</ambient>
+          <diffuse>0.043137254901960784 0.043137254901960784 0.043137254901960784 1.0</diffuse>
         </material>
       </visual>
     </link>
-    
+
     <link name="front_right_wheel_steering_link">
       <pose>0.465 -0.22 0.02 0 0 0</pose>
       <inertial>
@@ -978,12 +978,12 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>11 11 11</ambient>
-          <diffuse>11 11 11</diffuse>
+          <ambient>0.043137254901960784 0.043137254901960784 0.043137254901960784 1.0</ambient>
+          <diffuse>0.043137254901960784 0.043137254901960784 0.043137254901960784 1.0</diffuse>
         </material>
       </visual>
     </link>
-    
+
     <link name="front_left_wheel">
       <pose>0.465 0.325 0 0 0 0</pose>
       <!-- Inertia and size need adjusted -->
@@ -1020,7 +1020,7 @@
         <geometry>
           <mesh>
             <uri>meshes/wheel.dae</uri>
-	    <scale>1.01 1.0 1.01</scale>
+            <scale>1.01 1.0 1.01</scale>
           </mesh>
         </geometry>
       </visual>
@@ -1033,8 +1033,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
         </material>
       </visual>
       <visual name="axis_visual">
@@ -1046,12 +1046,12 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
         </material>
       </visual>
     </link>
-    
+
     <link name="front_right_wheel">
       <pose>0.465 -0.325 0 0 0 0</pose>
       <inertial>
@@ -1087,7 +1087,7 @@
         <geometry>
           <mesh>
             <uri>meshes/wheel.dae</uri>
-	    <scale>1.01 1.0 1.01</scale>
+            <scale>1.01 1.0 1.01</scale>
           </mesh>
         </geometry>
       </visual>
@@ -1100,8 +1100,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
         </material>
       </visual>
       <visual name="axis_visual">
@@ -1113,8 +1113,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
         </material>
       </visual>
     </link>
@@ -1154,7 +1154,7 @@
         <geometry>
           <mesh>
             <uri>meshes/wheel.dae</uri>
-	    <scale>1.01 1.0 1.01</scale>
+            <scale>1.01 1.0 1.01</scale>
           </mesh>
         </geometry>
       </visual>
@@ -1167,8 +1167,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
         </material>
       </visual>
       <visual name="axis_visual">
@@ -1180,12 +1180,12 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
         </material>
       </visual>
     </link>
-    
+
     <link name="rear_right_wheel">
       <pose>-0.465 -0.325 0 0 0 0</pose>
       <inertial>
@@ -1221,7 +1221,7 @@
         <geometry>
           <mesh>
             <uri>meshes/wheel.dae</uri>
-	    <scale>1.01 1.0 1.01</scale>
+            <scale>1.01 1.0 1.01</scale>
           </mesh>
         </geometry>
       </visual>
@@ -1234,8 +1234,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>128 128 128</ambient>
-          <diffuse>128 128 128</diffuse>
+          <ambient>0.5 0.5 0.5 1.0</ambient>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
         </material>
       </visual>
       <visual name="axis_visual">
@@ -1247,8 +1247,8 @@
           </cylinder>
         </geometry>
         <material>
-          <ambient>0 0 0</ambient>
-          <diffuse>0 0 0</diffuse>
+          <ambient>0 0 0 1.0</ambient>
+          <diffuse>0 0 0 1.0</diffuse>
         </material>
       </visual>
     </link>
@@ -1268,7 +1268,7 @@
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
-    
+
     <joint name="front_right_wheel_steering_joint" type="revolute">
       <parent>base_link</parent>
       <child>front_right_wheel_steering_link</child>
@@ -1282,8 +1282,8 @@
         </limit>
       </axis>
     </joint>
-    
-    
+
+
     <joint name="front_left_wheel_joint" type="revolute">
       <child>front_left_wheel</child>
       <parent>front_left_wheel_steering_link</parent>
@@ -1298,7 +1298,7 @@
         <use_parent_model_frame>1</use_parent_model_frame>
       </axis>
     </joint>
-    
+
     <joint name="front_right_wheel_joint" type="revolute">
       <parent>front_right_wheel_steering_link</parent>
       <child>front_right_wheel</child>
@@ -1312,7 +1312,7 @@
         </limit>
       </axis>
     </joint>
-    
+
     <joint name="rear_left_wheel_joint" type="revolute">
       <parent>base_link</parent>
       <child>rear_left_wheel</child>
@@ -1327,7 +1327,7 @@
         </limit>
       </axis>
     </joint>
-    
+
     <joint name="rear_right_wheel_joint" type="revolute">
       <parent>base_link</parent>
       <child>rear_right_wheel</child>
@@ -1342,6 +1342,6 @@
         </limit>
       </axis>
     </joint>
-    
+
   </model>
 </sdf>

From e014c78aa5a65e5665f6091dd7e941a8f5bece9e Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Thu, 1 Apr 2021 12:18:09 -0700
Subject: [PATCH 18/18] Removed wheel slip plugin

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 .../launch/spawner.rb                         | 28 -------------------
 .../coro_karen_sensor_config_1/model.sdf      |  8 ------
 2 files changed, 36 deletions(-)

diff --git a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
index 88d2b843..67b77744 100644
--- a/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/coro_karen_sensor_config_1/launch/spawner.rb
@@ -63,34 +63,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
         <update_rate>10</update_rate>
         <type>gas</type>
       </plugin>
-      <!-- Wheel slip -->
-      <plugin filename="libignition-gazebo-wheel-slip-system.so"
-        name="ignition::gazebo::systems::WheelSlip">
-        <wheel link_name="front_left_wheel">
-          <slip_compliance_lateral>0.172</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
-          <wheel_normal_force>269.7</wheel_normal_force>
-          <wheel_radius>0.1275</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_left_wheel">
-          <slip_compliance_lateral>0.172</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
-          <wheel_normal_force>269.7</wheel_normal_force>
-          <wheel_radius>0.1275</wheel_radius>
-        </wheel>
-        <wheel link_name="front_right_wheel">
-          <slip_compliance_lateral>0.172</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
-          <wheel_normal_force>269.7</wheel_normal_force>
-          <wheel_radius>0.1275</wheel_radius>
-        </wheel>
-        <wheel link_name="rear_right_wheel">
-          <slip_compliance_lateral>0.172</slip_compliance_lateral>
-          <slip_compliance_longitudinal>0.2</slip_compliance_longitudinal>
-          <wheel_normal_force>269.7</wheel_normal_force>
-          <wheel_radius>0.1275</wheel_radius>
-        </wheel>
-      </plugin>
     </include>
     </sdf>
   </spawn>
diff --git a/submitted_models/coro_karen_sensor_config_1/model.sdf b/submitted_models/coro_karen_sensor_config_1/model.sdf
index f64526f3..68004b03 100644
--- a/submitted_models/coro_karen_sensor_config_1/model.sdf
+++ b/submitted_models/coro_karen_sensor_config_1/model.sdf
@@ -1008,8 +1008,6 @@
             <ode>
               <mu>1</mu>
               <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1075,8 +1073,6 @@
             <ode>
               <mu>1</mu>
               <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1142,8 +1138,6 @@
             <ode>
               <mu>1</mu>
               <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>
@@ -1209,8 +1203,6 @@
             <ode>
               <mu>1</mu>
               <mu2>1</mu2>
-              <slip1>0.0475</slip1>
-              <slip2>0</slip2>
               <fdir1>0 0 1</fdir1>
             </ode>
           </friction>