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<?xml version="1.0" ?>
<robot name="Basic_Robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:property name="body_color" value="Gazebo/Silver" />
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="control"/>
</gazebo>
<gazebo reference="base_link">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>true</selfCollide>
<gravity>true</gravity>
</gazebo>
<gazebo reference="right_wheel_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="left_wheel_1">
<material>${body_color}</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>
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